diff options
96 files changed, 22270 insertions, 22270 deletions
diff --git a/Opcode/Ice/IceAABB.cpp b/Opcode/Ice/IceAABB.cpp index 62eec5d..03bca6c 100644 --- a/Opcode/Ice/IceAABB.cpp +++ b/Opcode/Ice/IceAABB.cpp @@ -1,405 +1,405 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains AABB-related code.
- * \file IceAABB.cpp
- * \author Pierre Terdiman
- * \date January, 29, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * AABB class.
- * \class AABB
- * \author Pierre Terdiman
- * \version 1.0
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the sum of two AABBs.
- * \param aabb [in] the other AABB
- * \return Self-Reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABB& AABB::Add(const AABB& aabb)
-{
- // Compute new min & max values
- IcePoint Min; GetMin(Min);
- IcePoint Tmp; aabb.GetMin(Tmp);
- Min.Min(Tmp);
-
- IcePoint Max; GetMax(Max);
- aabb.GetMax(Tmp);
- Max.Max(Tmp);
-
- // Update this
- SetMinMax(Min, Max);
- return *this;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Makes a cube from the AABB.
- * \param cube [out] the cube AABB
- * \return cube edge length
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float AABB::MakeCube(AABB& cube) const
-{
- IcePoint Ext; GetExtents(Ext);
- float Max = Ext.Max();
-
- IcePoint Cnt; GetCenter(Cnt);
- cube.SetCenterExtents(Cnt, IcePoint(Max, Max, Max));
- return Max;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Makes a sphere from the AABB.
- * \param sphere [out] sphere containing the AABB
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABB::MakeSphere(Sphere& sphere) const
-{
- GetExtents(sphere.mCenter);
- sphere.mRadius = sphere.mCenter.Magnitude() * 1.00001f; // To make sure sphere::Contains(*this) succeeds
- GetCenter(sphere.mCenter);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks a box is inside another box.
- * \param box [in] the other AABB
- * \return true if current box is inside input box
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABB::IsInside(const AABB& box) const
-{
- if(box.GetMin(0)>GetMin(0)) return false;
- if(box.GetMin(1)>GetMin(1)) return false;
- if(box.GetMin(2)>GetMin(2)) return false;
- if(box.GetMax(0)<GetMax(0)) return false;
- if(box.GetMax(1)<GetMax(1)) return false;
- if(box.GetMax(2)<GetMax(2)) return false;
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the AABB planes.
- * \param planes [out] 6 planes surrounding the box
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABB::ComputePlanes(IcePlane* planes) const
-{
- // Checkings
- if(!planes) return false;
-
- IcePoint Center, Extents;
- GetCenter(Center);
- GetExtents(Extents);
-
- // Writes normals
- planes[0].n = IcePoint(1.0f, 0.0f, 0.0f);
- planes[1].n = IcePoint(-1.0f, 0.0f, 0.0f);
- planes[2].n = IcePoint(0.0f, 1.0f, 0.0f);
- planes[3].n = IcePoint(0.0f, -1.0f, 0.0f);
- planes[4].n = IcePoint(0.0f, 0.0f, 1.0f);
- planes[5].n = IcePoint(0.0f, 0.0f, -1.0f);
-
- // Compute a point on each plane
- IcePoint p0 = IcePoint(Center.x+Extents.x, Center.y, Center.z);
- IcePoint p1 = IcePoint(Center.x-Extents.x, Center.y, Center.z);
- IcePoint p2 = IcePoint(Center.x, Center.y+Extents.y, Center.z);
- IcePoint p3 = IcePoint(Center.x, Center.y-Extents.y, Center.z);
- IcePoint p4 = IcePoint(Center.x, Center.y, Center.z+Extents.z);
- IcePoint p5 = IcePoint(Center.x, Center.y, Center.z-Extents.z);
-
- // Compute d
- planes[0].d = -(planes[0].n|p0);
- planes[1].d = -(planes[1].n|p1);
- planes[2].d = -(planes[2].n|p2);
- planes[3].d = -(planes[3].n|p3);
- planes[4].d = -(planes[4].n|p4);
- planes[5].d = -(planes[5].n|p5);
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the aabb points.
- * \param pts [out] 8 box points
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABB::ComputePoints(IcePoint* pts) const
-{
- // Checkings
- if(!pts) return false;
-
- // Get box corners
- IcePoint min; GetMin(min);
- IcePoint max; GetMax(max);
-
- // 7+------+6 0 = ---
- // /| /| 1 = +--
- // / | / | 2 = ++-
- // / 4+---/--+5 3 = -+-
- // 3+------+2 / y z 4 = --+
- // | / | / | / 5 = +-+
- // |/ |/ |/ 6 = +++
- // 0+------+1 *---x 7 = -++
-
- // Generate 8 corners of the bbox
- pts[0] = IcePoint(min.x, min.y, min.z);
- pts[1] = IcePoint(max.x, min.y, min.z);
- pts[2] = IcePoint(max.x, max.y, min.z);
- pts[3] = IcePoint(min.x, max.y, min.z);
- pts[4] = IcePoint(min.x, min.y, max.z);
- pts[5] = IcePoint(max.x, min.y, max.z);
- pts[6] = IcePoint(max.x, max.y, max.z);
- pts[7] = IcePoint(min.x, max.y, max.z);
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets vertex normals.
- * \param pts [out] 8 box points
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const IcePoint* AABB::GetVertexNormals() const
-{
- static float VertexNormals[] =
- {
- -INVSQRT3, -INVSQRT3, -INVSQRT3,
- INVSQRT3, -INVSQRT3, -INVSQRT3,
- INVSQRT3, INVSQRT3, -INVSQRT3,
- -INVSQRT3, INVSQRT3, -INVSQRT3,
- -INVSQRT3, -INVSQRT3, INVSQRT3,
- INVSQRT3, -INVSQRT3, INVSQRT3,
- INVSQRT3, INVSQRT3, INVSQRT3,
- -INVSQRT3, INVSQRT3, INVSQRT3
- };
- return (const IcePoint*)VertexNormals;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Returns edges.
- * \return 24 indices (12 edges) indexing the list returned by ComputePoints()
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const udword* AABB::GetEdges() const
-{
- static udword Indices[] = {
- 0, 1, 1, 2, 2, 3, 3, 0,
- 7, 6, 6, 5, 5, 4, 4, 7,
- 1, 5, 6, 2,
- 3, 7, 4, 0
- };
- return Indices;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Returns edge normals.
- * \return edge normals in local space
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const IcePoint* AABB::GetEdgeNormals() const
-{
- static float EdgeNormals[] =
- {
- 0, -INVSQRT2, -INVSQRT2, // 0-1
- INVSQRT2, 0, -INVSQRT2, // 1-2
- 0, INVSQRT2, -INVSQRT2, // 2-3
- -INVSQRT2, 0, -INVSQRT2, // 3-0
-
- 0, INVSQRT2, INVSQRT2, // 7-6
- INVSQRT2, 0, INVSQRT2, // 6-5
- 0, -INVSQRT2, INVSQRT2, // 5-4
- -INVSQRT2, 0, INVSQRT2, // 4-7
-
- INVSQRT2, -INVSQRT2, 0, // 1-5
- INVSQRT2, INVSQRT2, 0, // 6-2
- -INVSQRT2, INVSQRT2, 0, // 3-7
- -INVSQRT2, -INVSQRT2, 0 // 4-0
- };
- return (const IcePoint*)EdgeNormals;
-}
-
-// ===========================================================================
-// (C) 1996-98 Vienna University of Technology
-// ===========================================================================
-// NAME: bboxarea
-// TYPE: c++ code
-// PROJECT: Bounding Box Area
-// CONTENT: Computes area of 2D projection of 3D oriented bounding box
-// VERSION: 1.0
-// ===========================================================================
-// AUTHORS: ds Dieter Schmalstieg
-// ep Erik Pojar
-// ===========================================================================
-// HISTORY:
-//
-// 19-sep-99 15:23:03 ds last modification
-// 01-dec-98 15:23:03 ep created
-// ===========================================================================
-
-//----------------------------------------------------------------------------
-// SAMPLE CODE STARTS HERE
-//----------------------------------------------------------------------------
-
-// NOTE: This sample program requires OPEN INVENTOR!
-
-//indexlist: this table stores the 64 possible cases of classification of
-//the eyepoint with respect to the 6 defining planes of the bbox (2^6=64)
-//only 26 (3^3-1, where 1 is "inside" cube) of these cases are valid.
-//the first 6 numbers in each row are the indices of the bbox vertices that
-//form the outline of which we want to compute the area (counterclockwise
-//ordering), the 7th entry means the number of vertices in the outline.
-//there are 6 cases with a single face and and a 4-vertex outline, and
-//20 cases with 2 or 3 faces and a 6-vertex outline. a value of 0 indicates
-//an invalid case.
-
-
-// Original list was made of 7 items, I added an 8th element:
-// - to padd on a cache line
-// - to repeat the first entry to avoid modulos
-//
-// I also replaced original ints with sbytes.
-
-static const sbyte gIndexList[64][8] =
-{
- {-1,-1,-1,-1,-1,-1,-1, 0}, // 0 inside
- { 0, 4, 7, 3, 0,-1,-1, 4}, // 1 left
- { 1, 2, 6, 5, 1,-1,-1, 4}, // 2 right
- {-1,-1,-1,-1,-1,-1,-1, 0}, // 3 -
- { 0, 1, 5, 4, 0,-1,-1, 4}, // 4 bottom
- { 0, 1, 5, 4, 7, 3, 0, 6}, // 5 bottom, left
- { 0, 1, 2, 6, 5, 4, 0, 6}, // 6 bottom, right
- {-1,-1,-1,-1,-1,-1,-1, 0}, // 7 -
- { 2, 3, 7, 6, 2,-1,-1, 4}, // 8 top
- { 0, 4, 7, 6, 2, 3, 0, 6}, // 9 top, left
- { 1, 2, 3, 7, 6, 5, 1, 6}, //10 top, right
- {-1,-1,-1,-1,-1,-1,-1, 0}, //11 -
- {-1,-1,-1,-1,-1,-1,-1, 0}, //12 -
- {-1,-1,-1,-1,-1,-1,-1, 0}, //13 -
- {-1,-1,-1,-1,-1,-1,-1, 0}, //14 -
- {-1,-1,-1,-1,-1,-1,-1, 0}, //15 -
- { 0, 3, 2, 1, 0,-1,-1, 4}, //16 front
- { 0, 4, 7, 3, 2, 1, 0, 6}, //17 front, left
- { 0, 3, 2, 6, 5, 1, 0, 6}, //18 front, right
- {-1,-1,-1,-1,-1,-1,-1, 0}, //19 -
- { 0, 3, 2, 1, 5, 4, 0, 6}, //20 front, bottom
- { 1, 5, 4, 7, 3, 2, 1, 6}, //21 front, bottom, left
- { 0, 3, 2, 6, 5, 4, 0, 6}, //22 front, bottom, right
- {-1,-1,-1,-1,-1,-1,-1, 0}, //23 -
- { 0, 3, 7, 6, 2, 1, 0, 6}, //24 front, top
- { 0, 4, 7, 6, 2, 1, 0, 6}, //25 front, top, left
- { 0, 3, 7, 6, 5, 1, 0, 6}, //26 front, top, right
- {-1,-1,-1,-1,-1,-1,-1, 0}, //27 -
- {-1,-1,-1,-1,-1,-1,-1, 0}, //28 -
- {-1,-1,-1,-1,-1,-1,-1, 0}, //29 -
- {-1,-1,-1,-1,-1,-1,-1, 0}, //30 -
- {-1,-1,-1,-1,-1,-1,-1, 0}, //31 -
- { 4, 5, 6, 7, 4,-1,-1, 4}, //32 back
- { 0, 4, 5, 6, 7, 3, 0, 6}, //33 back, left
- { 1, 2, 6, 7, 4, 5, 1, 6}, //34 back, right
- {-1,-1,-1,-1,-1,-1,-1, 0}, //35 -
- { 0, 1, 5, 6, 7, 4, 0, 6}, //36 back, bottom
- { 0, 1, 5, 6, 7, 3, 0, 6}, //37 back, bottom, left
- { 0, 1, 2, 6, 7, 4, 0, 6}, //38 back, bottom, right
- {-1,-1,-1,-1,-1,-1,-1, 0}, //39 -
- { 2, 3, 7, 4, 5, 6, 2, 6}, //40 back, top
- { 0, 4, 5, 6, 2, 3, 0, 6}, //41 back, top, left
- { 1, 2, 3, 7, 4, 5, 1, 6}, //42 back, top, right
- {-1,-1,-1,-1,-1,-1,-1, 0}, //43 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //44 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //45 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //46 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //47 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //48 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //49 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //50 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //51 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //52 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //53 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //54 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //55 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //56 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //57 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //58 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //59 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //60 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //61 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0}, //62 invalid
- {-1,-1,-1,-1,-1,-1,-1, 0} //63 invalid
-};
-
-const sbyte* AABB::ComputeOutline(const IcePoint& local_eye, sdword& num) const
-{
- // Get box corners
- IcePoint min; GetMin(min);
- IcePoint max; GetMax(max);
-
- // Compute 6-bit code to classify eye with respect to the 6 defining planes of the bbox
- int pos = ((local_eye.x < min.x) ? 1 : 0) // 1 = left
- + ((local_eye.x > max.x) ? 2 : 0) // 2 = right
- + ((local_eye.y < min.y) ? 4 : 0) // 4 = bottom
- + ((local_eye.y > max.y) ? 8 : 0) // 8 = top
- + ((local_eye.z < min.z) ? 16 : 0) // 16 = front
- + ((local_eye.z > max.z) ? 32 : 0); // 32 = back
-
- // Look up number of vertices in outline
- num = (sdword)gIndexList[pos][7];
- // Zero indicates invalid case
- if(!num) return null;
-
- return &gIndexList[pos][0];
-}
-
-// calculateBoxArea: computes the screen-projected 2D area of an oriented 3D bounding box
-
-//const IcePoint& eye, //eye point (in bbox object coordinates)
-//const AABB& box, //3d bbox
-//const Matrix4x4& mat, //free transformation for bbox
-//float width, float height, int& num)
-float AABB::ComputeBoxArea(const IcePoint& eye, const Matrix4x4& mat, float width, float height, sdword& num) const
-{
- const sbyte* Outline = ComputeOutline(eye, num);
- if(!Outline) return -1.0f;
-
- // Compute box vertices
- IcePoint vertexBox[8], dst[8];
- ComputePoints(vertexBox);
-
- // Transform all outline corners into 2D screen space
- for(sdword i=0;i<num;i++)
- {
- HPoint Projected;
- vertexBox[Outline[i]].ProjectToScreen(width, height, mat, Projected);
- dst[i] = Projected;
- }
-
- float Sum = (dst[num-1][0] - dst[0][0]) * (dst[num-1][1] + dst[0][1]);
-
- for(int i=0; i<num-1; i++)
- Sum += (dst[i][0] - dst[i+1][0]) * (dst[i][1] + dst[i+1][1]);
-
- return Sum * 0.5f; //return computed value corrected by 0.5
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains AABB-related code. + * \file IceAABB.cpp + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * AABB class. + * \class AABB + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the sum of two AABBs. + * \param aabb [in] the other AABB + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABB& AABB::Add(const AABB& aabb) +{ + // Compute new min & max values + IcePoint Min; GetMin(Min); + IcePoint Tmp; aabb.GetMin(Tmp); + Min.Min(Tmp); + + IcePoint Max; GetMax(Max); + aabb.GetMax(Tmp); + Max.Max(Tmp); + + // Update this + SetMinMax(Min, Max); + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Makes a cube from the AABB. + * \param cube [out] the cube AABB + * \return cube edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABB::MakeCube(AABB& cube) const +{ + IcePoint Ext; GetExtents(Ext); + float Max = Ext.Max(); + + IcePoint Cnt; GetCenter(Cnt); + cube.SetCenterExtents(Cnt, IcePoint(Max, Max, Max)); + return Max; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Makes a sphere from the AABB. + * \param sphere [out] sphere containing the AABB + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABB::MakeSphere(Sphere& sphere) const +{ + GetExtents(sphere.mCenter); + sphere.mRadius = sphere.mCenter.Magnitude() * 1.00001f; // To make sure sphere::Contains(*this) succeeds + GetCenter(sphere.mCenter); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks a box is inside another box. + * \param box [in] the other AABB + * \return true if current box is inside input box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABB::IsInside(const AABB& box) const +{ + if(box.GetMin(0)>GetMin(0)) return false; + if(box.GetMin(1)>GetMin(1)) return false; + if(box.GetMin(2)>GetMin(2)) return false; + if(box.GetMax(0)<GetMax(0)) return false; + if(box.GetMax(1)<GetMax(1)) return false; + if(box.GetMax(2)<GetMax(2)) return false; + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the AABB planes. + * \param planes [out] 6 planes surrounding the box + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABB::ComputePlanes(IcePlane* planes) const +{ + // Checkings + if(!planes) return false; + + IcePoint Center, Extents; + GetCenter(Center); + GetExtents(Extents); + + // Writes normals + planes[0].n = IcePoint(1.0f, 0.0f, 0.0f); + planes[1].n = IcePoint(-1.0f, 0.0f, 0.0f); + planes[2].n = IcePoint(0.0f, 1.0f, 0.0f); + planes[3].n = IcePoint(0.0f, -1.0f, 0.0f); + planes[4].n = IcePoint(0.0f, 0.0f, 1.0f); + planes[5].n = IcePoint(0.0f, 0.0f, -1.0f); + + // Compute a point on each plane + IcePoint p0 = IcePoint(Center.x+Extents.x, Center.y, Center.z); + IcePoint p1 = IcePoint(Center.x-Extents.x, Center.y, Center.z); + IcePoint p2 = IcePoint(Center.x, Center.y+Extents.y, Center.z); + IcePoint p3 = IcePoint(Center.x, Center.y-Extents.y, Center.z); + IcePoint p4 = IcePoint(Center.x, Center.y, Center.z+Extents.z); + IcePoint p5 = IcePoint(Center.x, Center.y, Center.z-Extents.z); + + // Compute d + planes[0].d = -(planes[0].n|p0); + planes[1].d = -(planes[1].n|p1); + planes[2].d = -(planes[2].n|p2); + planes[3].d = -(planes[3].n|p3); + planes[4].d = -(planes[4].n|p4); + planes[5].d = -(planes[5].n|p5); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the aabb points. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABB::ComputePoints(IcePoint* pts) const +{ + // Checkings + if(!pts) return false; + + // Get box corners + IcePoint min; GetMin(min); + IcePoint max; GetMax(max); + + // 7+------+6 0 = --- + // /| /| 1 = +-- + // / | / | 2 = ++- + // / 4+---/--+5 3 = -+- + // 3+------+2 / y z 4 = --+ + // | / | / | / 5 = +-+ + // |/ |/ |/ 6 = +++ + // 0+------+1 *---x 7 = -++ + + // Generate 8 corners of the bbox + pts[0] = IcePoint(min.x, min.y, min.z); + pts[1] = IcePoint(max.x, min.y, min.z); + pts[2] = IcePoint(max.x, max.y, min.z); + pts[3] = IcePoint(min.x, max.y, min.z); + pts[4] = IcePoint(min.x, min.y, max.z); + pts[5] = IcePoint(max.x, min.y, max.z); + pts[6] = IcePoint(max.x, max.y, max.z); + pts[7] = IcePoint(min.x, max.y, max.z); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets vertex normals. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const IcePoint* AABB::GetVertexNormals() const +{ + static float VertexNormals[] = + { + -INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, INVSQRT3, INVSQRT3, + -INVSQRT3, INVSQRT3, INVSQRT3 + }; + return (const IcePoint*)VertexNormals; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns edges. + * \return 24 indices (12 edges) indexing the list returned by ComputePoints() + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const udword* AABB::GetEdges() const +{ + static udword Indices[] = { + 0, 1, 1, 2, 2, 3, 3, 0, + 7, 6, 6, 5, 5, 4, 4, 7, + 1, 5, 6, 2, + 3, 7, 4, 0 + }; + return Indices; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns edge normals. + * \return edge normals in local space + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const IcePoint* AABB::GetEdgeNormals() const +{ + static float EdgeNormals[] = + { + 0, -INVSQRT2, -INVSQRT2, // 0-1 + INVSQRT2, 0, -INVSQRT2, // 1-2 + 0, INVSQRT2, -INVSQRT2, // 2-3 + -INVSQRT2, 0, -INVSQRT2, // 3-0 + + 0, INVSQRT2, INVSQRT2, // 7-6 + INVSQRT2, 0, INVSQRT2, // 6-5 + 0, -INVSQRT2, INVSQRT2, // 5-4 + -INVSQRT2, 0, INVSQRT2, // 4-7 + + INVSQRT2, -INVSQRT2, 0, // 1-5 + INVSQRT2, INVSQRT2, 0, // 6-2 + -INVSQRT2, INVSQRT2, 0, // 3-7 + -INVSQRT2, -INVSQRT2, 0 // 4-0 + }; + return (const IcePoint*)EdgeNormals; +} + +// =========================================================================== +// (C) 1996-98 Vienna University of Technology +// =========================================================================== +// NAME: bboxarea +// TYPE: c++ code +// PROJECT: Bounding Box Area +// CONTENT: Computes area of 2D projection of 3D oriented bounding box +// VERSION: 1.0 +// =========================================================================== +// AUTHORS: ds Dieter Schmalstieg +// ep Erik Pojar +// =========================================================================== +// HISTORY: +// +// 19-sep-99 15:23:03 ds last modification +// 01-dec-98 15:23:03 ep created +// =========================================================================== + +//---------------------------------------------------------------------------- +// SAMPLE CODE STARTS HERE +//---------------------------------------------------------------------------- + +// NOTE: This sample program requires OPEN INVENTOR! + +//indexlist: this table stores the 64 possible cases of classification of +//the eyepoint with respect to the 6 defining planes of the bbox (2^6=64) +//only 26 (3^3-1, where 1 is "inside" cube) of these cases are valid. +//the first 6 numbers in each row are the indices of the bbox vertices that +//form the outline of which we want to compute the area (counterclockwise +//ordering), the 7th entry means the number of vertices in the outline. +//there are 6 cases with a single face and and a 4-vertex outline, and +//20 cases with 2 or 3 faces and a 6-vertex outline. a value of 0 indicates +//an invalid case. + + +// Original list was made of 7 items, I added an 8th element: +// - to padd on a cache line +// - to repeat the first entry to avoid modulos +// +// I also replaced original ints with sbytes. + +static const sbyte gIndexList[64][8] = +{ + {-1,-1,-1,-1,-1,-1,-1, 0}, // 0 inside + { 0, 4, 7, 3, 0,-1,-1, 4}, // 1 left + { 1, 2, 6, 5, 1,-1,-1, 4}, // 2 right + {-1,-1,-1,-1,-1,-1,-1, 0}, // 3 - + { 0, 1, 5, 4, 0,-1,-1, 4}, // 4 bottom + { 0, 1, 5, 4, 7, 3, 0, 6}, // 5 bottom, left + { 0, 1, 2, 6, 5, 4, 0, 6}, // 6 bottom, right + {-1,-1,-1,-1,-1,-1,-1, 0}, // 7 - + { 2, 3, 7, 6, 2,-1,-1, 4}, // 8 top + { 0, 4, 7, 6, 2, 3, 0, 6}, // 9 top, left + { 1, 2, 3, 7, 6, 5, 1, 6}, //10 top, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //11 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //12 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //13 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //14 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //15 - + { 0, 3, 2, 1, 0,-1,-1, 4}, //16 front + { 0, 4, 7, 3, 2, 1, 0, 6}, //17 front, left + { 0, 3, 2, 6, 5, 1, 0, 6}, //18 front, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //19 - + { 0, 3, 2, 1, 5, 4, 0, 6}, //20 front, bottom + { 1, 5, 4, 7, 3, 2, 1, 6}, //21 front, bottom, left + { 0, 3, 2, 6, 5, 4, 0, 6}, //22 front, bottom, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //23 - + { 0, 3, 7, 6, 2, 1, 0, 6}, //24 front, top + { 0, 4, 7, 6, 2, 1, 0, 6}, //25 front, top, left + { 0, 3, 7, 6, 5, 1, 0, 6}, //26 front, top, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //27 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //28 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //29 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //30 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //31 - + { 4, 5, 6, 7, 4,-1,-1, 4}, //32 back + { 0, 4, 5, 6, 7, 3, 0, 6}, //33 back, left + { 1, 2, 6, 7, 4, 5, 1, 6}, //34 back, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //35 - + { 0, 1, 5, 6, 7, 4, 0, 6}, //36 back, bottom + { 0, 1, 5, 6, 7, 3, 0, 6}, //37 back, bottom, left + { 0, 1, 2, 6, 7, 4, 0, 6}, //38 back, bottom, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //39 - + { 2, 3, 7, 4, 5, 6, 2, 6}, //40 back, top + { 0, 4, 5, 6, 2, 3, 0, 6}, //41 back, top, left + { 1, 2, 3, 7, 4, 5, 1, 6}, //42 back, top, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //43 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //44 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //45 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //46 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //47 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //48 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //49 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //50 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //51 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //52 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //53 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //54 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //55 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //56 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //57 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //58 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //59 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //60 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //61 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //62 invalid + {-1,-1,-1,-1,-1,-1,-1, 0} //63 invalid +}; + +const sbyte* AABB::ComputeOutline(const IcePoint& local_eye, sdword& num) const +{ + // Get box corners + IcePoint min; GetMin(min); + IcePoint max; GetMax(max); + + // Compute 6-bit code to classify eye with respect to the 6 defining planes of the bbox + int pos = ((local_eye.x < min.x) ? 1 : 0) // 1 = left + + ((local_eye.x > max.x) ? 2 : 0) // 2 = right + + ((local_eye.y < min.y) ? 4 : 0) // 4 = bottom + + ((local_eye.y > max.y) ? 8 : 0) // 8 = top + + ((local_eye.z < min.z) ? 16 : 0) // 16 = front + + ((local_eye.z > max.z) ? 32 : 0); // 32 = back + + // Look up number of vertices in outline + num = (sdword)gIndexList[pos][7]; + // Zero indicates invalid case + if(!num) return null; + + return &gIndexList[pos][0]; +} + +// calculateBoxArea: computes the screen-projected 2D area of an oriented 3D bounding box + +//const IcePoint& eye, //eye point (in bbox object coordinates) +//const AABB& box, //3d bbox +//const Matrix4x4& mat, //free transformation for bbox +//float width, float height, int& num) +float AABB::ComputeBoxArea(const IcePoint& eye, const Matrix4x4& mat, float width, float height, sdword& num) const +{ + const sbyte* Outline = ComputeOutline(eye, num); + if(!Outline) return -1.0f; + + // Compute box vertices + IcePoint vertexBox[8], dst[8]; + ComputePoints(vertexBox); + + // Transform all outline corners into 2D screen space + for(sdword i=0;i<num;i++) + { + HPoint Projected; + vertexBox[Outline[i]].ProjectToScreen(width, height, mat, Projected); + dst[i] = Projected; + } + + float Sum = (dst[num-1][0] - dst[0][0]) * (dst[num-1][1] + dst[0][1]); + + for(int i=0; i<num-1; i++) + Sum += (dst[i][0] - dst[i+1][0]) * (dst[i][1] + dst[i+1][1]); + + return Sum * 0.5f; //return computed value corrected by 0.5 +} diff --git a/Opcode/Ice/IceAABB.h b/Opcode/Ice/IceAABB.h index 1ef671b..fa8c3f0 100644 --- a/Opcode/Ice/IceAABB.h +++ b/Opcode/Ice/IceAABB.h @@ -1,505 +1,505 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains AABB-related code. (axis-aligned bounding box)
- * \file IceAABB.h
- * \author Pierre Terdiman
- * \date January, 13, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEAABB_H__
-#define __ICEAABB_H__
-
- // Forward declarations
- class Sphere;
-
-//! Declarations of type-independent methods (most of them implemented in the .cpp)
-#define AABB_COMMON_METHODS \
- AABB& Add(const AABB& aabb); \
- float MakeCube(AABB& cube) const; \
- void MakeSphere(Sphere& sphere) const; \
- const sbyte* ComputeOutline(const IcePoint& local_eye, sdword& num) const; \
- float ComputeBoxArea(const IcePoint& eye, const Matrix4x4& mat, float width, float height, sdword& num) const; \
- bool IsInside(const AABB& box) const; \
- bool ComputePlanes(IcePlane* planes) const; \
- bool ComputePoints(IcePoint* pts) const; \
- const IcePoint* GetVertexNormals() const; \
- const udword* GetEdges() const; \
- const IcePoint* GetEdgeNormals() const; \
- inline_ BOOL ContainsPoint(const IcePoint& p) const \
- { \
- if(p.x > GetMax(0) || p.x < GetMin(0)) return FALSE; \
- if(p.y > GetMax(1) || p.y < GetMin(1)) return FALSE; \
- if(p.z > GetMax(2) || p.z < GetMin(2)) return FALSE; \
- return TRUE; \
- }
-
- enum AABBType
- {
- AABB_RENDER = 0, //!< AABB used for rendering. Not visible == not rendered.
- AABB_UPDATE = 1, //!< AABB used for dynamic updates. Not visible == not updated.
-
- AABB_FORCE_DWORD = 0x7fffffff,
- };
-
-#ifdef USE_MINMAX
-
- struct ICEMATHS_API ShadowAABB
- {
- Point mMin;
- Point mMax;
- };
-
- class ICEMATHS_API AABB
- {
- public:
- //! Constructor
- inline_ AABB() {}
- //! Destructor
- inline_ ~AABB() {}
-
- //! Type-independent methods
- AABB_COMMON_METHODS;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups an AABB from min & max vectors.
- * \param min [in] the min point
- * \param max [in] the max point
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void SetMinMax(const Point& min, const Point& max) { mMin = min; mMax = max; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups an AABB from center & extents vectors.
- * \param c [in] the center point
- * \param e [in] the extents vector
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void SetCenterExtents(const Point& c, const Point& e) { mMin = c - e; mMax = c + e; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups an empty AABB.
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void SetEmpty() { Point p(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); mMin = -p; mMax = p;}
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups a point AABB.
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void SetPoint(const Point& pt) { mMin = mMax = pt; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the size of the AABB. The size is defined as the longest extent.
- * \return the size of the AABB
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- float GetSize() const { Point e; GetExtents(e); return e.Max(); }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Extends the AABB.
- * \param p [in] the next point
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void Extend(const Point& p)
- {
- if(p.x > mMax.x) mMax.x = p.x;
- if(p.x < mMin.x) mMin.x = p.x;
-
- if(p.y > mMax.y) mMax.y = p.y;
- if(p.y < mMin.y) mMin.y = p.y;
-
- if(p.z > mMax.z) mMax.z = p.z;
- if(p.z < mMin.z) mMin.z = p.z;
- }
- // Data access
-
- //! Get min point of the box
- inline_ void GetMin(Point& min) const { min = mMin; }
- //! Get max point of the box
- inline_ void GetMax(Point& max) const { max = mMax; }
-
- //! Get component of the box's min point along a given axis
- inline_ float GetMin(udword axis) const { return mMin[axis]; }
- //! Get component of the box's max point along a given axis
- inline_ float GetMax(udword axis) const { return mMax[axis]; }
-
- //! Get box center
- inline_ void GetCenter(Point& center) const { center = (mMax + mMin)*0.5f; }
- //! Get box extents
- inline_ void GetExtents(Point& extents) const { extents = (mMax - mMin)*0.5f; }
-
- //! Get component of the box's center along a given axis
- inline_ float GetCenter(udword axis) const { return (mMax[axis] + mMin[axis])*0.5f; }
- //! Get component of the box's extents along a given axis
- inline_ float GetExtents(udword axis) const { return (mMax[axis] - mMin[axis])*0.5f; }
-
- //! Get box diagonal
- inline_ void GetDiagonal(Point& diagonal) const { diagonal = mMax - mMin; }
- inline_ float GetWidth() const { return mMax.x - mMin.x; }
- inline_ float GetHeight() const { return mMax.y - mMin.y; }
- inline_ float GetDepth() const { return mMax.z - mMin.z; }
-
- //! Volume
- inline_ float GetVolume() const { return GetWidth() * GetHeight() * GetDepth(); }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes the intersection between two AABBs.
- * \param a [in] the other AABB
- * \return true on intersection
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL Intersect(const AABB& a) const
- {
- if(mMax.x < a.mMin.x
- || a.mMax.x < mMin.x
- || mMax.y < a.mMin.y
- || a.mMax.y < mMin.y
- || mMax.z < a.mMin.z
- || a.mMax.z < mMin.z) return FALSE;
-
- return TRUE;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes the 1D-intersection between two AABBs, on a given axis.
- * \param a [in] the other AABB
- * \param axis [in] the axis (0, 1, 2)
- * \return true on intersection
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL Intersect(const AABB& a, udword axis) const
- {
- if(mMax[axis] < a.mMin[axis] || a.mMax[axis] < mMin[axis]) return FALSE;
- return TRUE;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Recomputes the AABB after an arbitrary transform by a 4x4 matrix.
- * Original code by Charles Bloom on the GD-Algorithm list. (I slightly modified it)
- * \param mtx [in] the transform matrix
- * \param aabb [out] the transformed AABB [can be *this]
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const
- {
- // The three edges transformed: you can efficiently transform an X-only vector
- // by just getting the "X" column of the matrix
- Point vx,vy,vz;
- mtx.GetRow(0, vx); vx *= (mMax.x - mMin.x);
- mtx.GetRow(1, vy); vy *= (mMax.y - mMin.y);
- mtx.GetRow(2, vz); vz *= (mMax.z - mMin.z);
-
- // Transform the min point
- aabb.mMin = aabb.mMax = mMin * mtx;
-
- // Take the transformed min & axes and find new extents
- // Using CPU code in the right place is faster...
- if(IS_NEGATIVE_FLOAT(vx.x)) aabb.mMin.x += vx.x; else aabb.mMax.x += vx.x;
- if(IS_NEGATIVE_FLOAT(vx.y)) aabb.mMin.y += vx.y; else aabb.mMax.y += vx.y;
- if(IS_NEGATIVE_FLOAT(vx.z)) aabb.mMin.z += vx.z; else aabb.mMax.z += vx.z;
- if(IS_NEGATIVE_FLOAT(vy.x)) aabb.mMin.x += vy.x; else aabb.mMax.x += vy.x;
- if(IS_NEGATIVE_FLOAT(vy.y)) aabb.mMin.y += vy.y; else aabb.mMax.y += vy.y;
- if(IS_NEGATIVE_FLOAT(vy.z)) aabb.mMin.z += vy.z; else aabb.mMax.z += vy.z;
- if(IS_NEGATIVE_FLOAT(vz.x)) aabb.mMin.x += vz.x; else aabb.mMax.x += vz.x;
- if(IS_NEGATIVE_FLOAT(vz.y)) aabb.mMin.y += vz.y; else aabb.mMax.y += vz.y;
- if(IS_NEGATIVE_FLOAT(vz.z)) aabb.mMin.z += vz.z; else aabb.mMax.z += vz.z;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks the AABB is valid.
- * \return true if the box is valid
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL IsValid() const
- {
- // Consistency condition for (Min, Max) boxes: min < max
- if(mMin.x > mMax.x) return FALSE;
- if(mMin.y > mMax.y) return FALSE;
- if(mMin.z > mMax.z) return FALSE;
- return TRUE;
- }
-
- //! Operator for AABB *= float. Scales the extents, keeps same center.
- inline_ AABB& operator*=(float s)
- {
- Point Center; GetCenter(Center);
- Point Extents; GetExtents(Extents);
- SetCenterExtents(Center, Extents * s);
- return *this;
- }
-
- //! Operator for AABB /= float. Scales the extents, keeps same center.
- inline_ AABB& operator/=(float s)
- {
- Point Center; GetCenter(Center);
- Point Extents; GetExtents(Extents);
- SetCenterExtents(Center, Extents / s);
- return *this;
- }
-
- //! Operator for AABB += Point. Translates the box.
- inline_ AABB& operator+=(const Point& trans)
- {
- mMin+=trans;
- mMax+=trans;
- return *this;
- }
- private:
- Point mMin; //!< Min point
- Point mMax; //!< Max point
- };
-
-#else
-
- class ICEMATHS_API AABB
- {
- public:
- //! Constructor
- inline_ AABB() {}
- //! Destructor
- inline_ ~AABB() {}
-
- //! Type-independent methods
- AABB_COMMON_METHODS;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups an AABB from min & max vectors.
- * \param min [in] the min point
- * \param max [in] the max point
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void SetMinMax(const IcePoint& min, const IcePoint& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups an AABB from center & extents vectors.
- * \param c [in] the center point
- * \param e [in] the extents vector
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void SetCenterExtents(const IcePoint& c, const IcePoint& e) { mCenter = c; mExtents = e; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups an empty AABB.
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void SetEmpty() { mCenter.Zero(); mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT);}
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups a point AABB.
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void SetPoint(const IcePoint& pt) { mCenter = pt; mExtents.Zero(); }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the size of the AABB. The size is defined as the longest extent.
- * \return the size of the AABB
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- float GetSize() const { return mExtents.Max(); }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Extends the AABB.
- * \param p [in] the next point
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void Extend(const IcePoint& p)
- {
- IcePoint Max = mCenter + mExtents;
- IcePoint Min = mCenter - mExtents;
-
- if(p.x > Max.x) Max.x = p.x;
- if(p.x < Min.x) Min.x = p.x;
-
- if(p.y > Max.y) Max.y = p.y;
- if(p.y < Min.y) Min.y = p.y;
-
- if(p.z > Max.z) Max.z = p.z;
- if(p.z < Min.z) Min.z = p.z;
-
- SetMinMax(Min, Max);
- }
- // Data access
-
- //! Get min point of the box
- inline_ void GetMin(IcePoint& min) const { min = mCenter - mExtents; }
- //! Get max point of the box
- inline_ void GetMax(IcePoint& max) const { max = mCenter + mExtents; }
-
- //! Get component of the box's min point along a given axis
- inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; }
- //! Get component of the box's max point along a given axis
- inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; }
-
- //! Get box center
- inline_ void GetCenter(IcePoint& center) const { center = mCenter; }
- //! Get box extents
- inline_ void GetExtents(IcePoint& extents) const { extents = mExtents; }
-
- //! Get component of the box's center along a given axis
- inline_ float GetCenter(udword axis) const { return mCenter[axis]; }
- //! Get component of the box's extents along a given axis
- inline_ float GetExtents(udword axis) const { return mExtents[axis]; }
-
- //! Get box diagonal
- inline_ void GetDiagonal(IcePoint& diagonal) const { diagonal = mExtents * 2.0f; }
- inline_ float GetWidth() const { return mExtents.x * 2.0f; }
- inline_ float GetHeight() const { return mExtents.y * 2.0f; }
- inline_ float GetDepth() const { return mExtents.z * 2.0f; }
-
- //! Volume
- inline_ float GetVolume() const { return mExtents.x * mExtents.y * mExtents.z * 8.0f; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes the intersection between two AABBs.
- * \param a [in] the other AABB
- * \return true on intersection
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL Intersect(const AABB& a) const
- {
- float tx = mCenter.x - a.mCenter.x; float ex = a.mExtents.x + mExtents.x; if(AIR(tx) > IR(ex)) return FALSE;
- float ty = mCenter.y - a.mCenter.y; float ey = a.mExtents.y + mExtents.y; if(AIR(ty) > IR(ey)) return FALSE;
- float tz = mCenter.z - a.mCenter.z; float ez = a.mExtents.z + mExtents.z; if(AIR(tz) > IR(ez)) return FALSE;
- return TRUE;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * The standard intersection method from Gamasutra. Just here to check its speed against the one above.
- * \param a [in] the other AABB
- * \return true on intersection
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ bool GomezIntersect(const AABB& a)
- {
- IcePoint T = mCenter - a.mCenter; // Vector from A to B
- return ((fabsf(T.x) <= (a.mExtents.x + mExtents.x))
- && (fabsf(T.y) <= (a.mExtents.y + mExtents.y))
- && (fabsf(T.z) <= (a.mExtents.z + mExtents.z)));
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes the 1D-intersection between two AABBs, on a given axis.
- * \param a [in] the other AABB
- * \param axis [in] the axis (0, 1, 2)
- * \return true on intersection
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL Intersect(const AABB& a, udword axis) const
- {
- float t = mCenter[axis] - a.mCenter[axis];
- float e = a.mExtents[axis] + mExtents[axis];
- if(AIR(t) > IR(e)) return FALSE;
- return TRUE;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Recomputes the AABB after an arbitrary transform by a 4x4 matrix.
- * \param mtx [in] the transform matrix
- * \param aabb [out] the transformed AABB [can be *this]
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const
- {
- // Compute new center
- aabb.mCenter = mCenter * mtx;
-
- // Compute new extents. FPU code & CPU code have been interleaved for improved performance.
- IcePoint Ex(mtx.m[0][0] * mExtents.x, mtx.m[0][1] * mExtents.x, mtx.m[0][2] * mExtents.x);
- IR(Ex.x)&=0x7fffffff; IR(Ex.y)&=0x7fffffff; IR(Ex.z)&=0x7fffffff;
-
- IcePoint Ey(mtx.m[1][0] * mExtents.y, mtx.m[1][1] * mExtents.y, mtx.m[1][2] * mExtents.y);
- IR(Ey.x)&=0x7fffffff; IR(Ey.y)&=0x7fffffff; IR(Ey.z)&=0x7fffffff;
-
- IcePoint Ez(mtx.m[2][0] * mExtents.z, mtx.m[2][1] * mExtents.z, mtx.m[2][2] * mExtents.z);
- IR(Ez.x)&=0x7fffffff; IR(Ez.y)&=0x7fffffff; IR(Ez.z)&=0x7fffffff;
-
- aabb.mExtents.x = Ex.x + Ey.x + Ez.x;
- aabb.mExtents.y = Ex.y + Ey.y + Ez.y;
- aabb.mExtents.z = Ex.z + Ey.z + Ez.z;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks the AABB is valid.
- * \return true if the box is valid
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL IsValid() const
- {
- // Consistency condition for (Center, Extents) boxes: Extents >= 0
- if(IS_NEGATIVE_FLOAT(mExtents.x)) return FALSE;
- if(IS_NEGATIVE_FLOAT(mExtents.y)) return FALSE;
- if(IS_NEGATIVE_FLOAT(mExtents.z)) return FALSE;
- return TRUE;
- }
-
- //! Operator for AABB *= float. Scales the extents, keeps same center.
- inline_ AABB& operator*=(float s) { mExtents*=s; return *this; }
-
- //! Operator for AABB /= float. Scales the extents, keeps same center.
- inline_ AABB& operator/=(float s) { mExtents/=s; return *this; }
-
- //! Operator for AABB += Point. Translates the box.
- inline_ AABB& operator+=(const IcePoint& trans)
- {
- mCenter+=trans;
- return *this;
- }
- private:
- IcePoint mCenter; //!< AABB Center
- IcePoint mExtents; //!< x, y and z extents
- };
-
-#endif
-
- inline_ void ComputeMinMax(const IcePoint& p, IcePoint& min, IcePoint& max)
- {
- if(p.x > max.x) max.x = p.x;
- if(p.x < min.x) min.x = p.x;
-
- if(p.y > max.y) max.y = p.y;
- if(p.y < min.y) min.y = p.y;
-
- if(p.z > max.z) max.z = p.z;
- if(p.z < min.z) min.z = p.z;
- }
-
- inline_ void ComputeAABB(AABB& aabb, const IcePoint* list, udword nb_pts)
- {
- if(list)
- {
- IcePoint Maxi(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT);
- IcePoint Mini(MAX_FLOAT, MAX_FLOAT, MAX_FLOAT);
- while(nb_pts--)
- {
-// _prefetch(list+1); // off by one ?
- ComputeMinMax(*list++, Mini, Maxi);
- }
- aabb.SetMinMax(Mini, Maxi);
- }
- }
-
-#endif // __ICEAABB_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains AABB-related code. (axis-aligned bounding box) + * \file IceAABB.h + * \author Pierre Terdiman + * \date January, 13, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEAABB_H__ +#define __ICEAABB_H__ + + // Forward declarations + class Sphere; + +//! Declarations of type-independent methods (most of them implemented in the .cpp) +#define AABB_COMMON_METHODS \ + AABB& Add(const AABB& aabb); \ + float MakeCube(AABB& cube) const; \ + void MakeSphere(Sphere& sphere) const; \ + const sbyte* ComputeOutline(const IcePoint& local_eye, sdword& num) const; \ + float ComputeBoxArea(const IcePoint& eye, const Matrix4x4& mat, float width, float height, sdword& num) const; \ + bool IsInside(const AABB& box) const; \ + bool ComputePlanes(IcePlane* planes) const; \ + bool ComputePoints(IcePoint* pts) const; \ + const IcePoint* GetVertexNormals() const; \ + const udword* GetEdges() const; \ + const IcePoint* GetEdgeNormals() const; \ + inline_ BOOL ContainsPoint(const IcePoint& p) const \ + { \ + if(p.x > GetMax(0) || p.x < GetMin(0)) return FALSE; \ + if(p.y > GetMax(1) || p.y < GetMin(1)) return FALSE; \ + if(p.z > GetMax(2) || p.z < GetMin(2)) return FALSE; \ + return TRUE; \ + } + + enum AABBType + { + AABB_RENDER = 0, //!< AABB used for rendering. Not visible == not rendered. + AABB_UPDATE = 1, //!< AABB used for dynamic updates. Not visible == not updated. + + AABB_FORCE_DWORD = 0x7fffffff, + }; + +#ifdef USE_MINMAX + + struct ICEMATHS_API ShadowAABB + { + Point mMin; + Point mMax; + }; + + class ICEMATHS_API AABB + { + public: + //! Constructor + inline_ AABB() {} + //! Destructor + inline_ ~AABB() {} + + //! Type-independent methods + AABB_COMMON_METHODS; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from min & max vectors. + * \param min [in] the min point + * \param max [in] the max point + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetMinMax(const Point& min, const Point& max) { mMin = min; mMax = max; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from center & extents vectors. + * \param c [in] the center point + * \param e [in] the extents vector + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetCenterExtents(const Point& c, const Point& e) { mMin = c - e; mMax = c + e; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an empty AABB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetEmpty() { Point p(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); mMin = -p; mMax = p;} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups a point AABB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetPoint(const Point& pt) { mMin = mMax = pt; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the size of the AABB. The size is defined as the longest extent. + * \return the size of the AABB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + float GetSize() const { Point e; GetExtents(e); return e.Max(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Extends the AABB. + * \param p [in] the next point + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void Extend(const Point& p) + { + if(p.x > mMax.x) mMax.x = p.x; + if(p.x < mMin.x) mMin.x = p.x; + + if(p.y > mMax.y) mMax.y = p.y; + if(p.y < mMin.y) mMin.y = p.y; + + if(p.z > mMax.z) mMax.z = p.z; + if(p.z < mMin.z) mMin.z = p.z; + } + // Data access + + //! Get min point of the box + inline_ void GetMin(Point& min) const { min = mMin; } + //! Get max point of the box + inline_ void GetMax(Point& max) const { max = mMax; } + + //! Get component of the box's min point along a given axis + inline_ float GetMin(udword axis) const { return mMin[axis]; } + //! Get component of the box's max point along a given axis + inline_ float GetMax(udword axis) const { return mMax[axis]; } + + //! Get box center + inline_ void GetCenter(Point& center) const { center = (mMax + mMin)*0.5f; } + //! Get box extents + inline_ void GetExtents(Point& extents) const { extents = (mMax - mMin)*0.5f; } + + //! Get component of the box's center along a given axis + inline_ float GetCenter(udword axis) const { return (mMax[axis] + mMin[axis])*0.5f; } + //! Get component of the box's extents along a given axis + inline_ float GetExtents(udword axis) const { return (mMax[axis] - mMin[axis])*0.5f; } + + //! Get box diagonal + inline_ void GetDiagonal(Point& diagonal) const { diagonal = mMax - mMin; } + inline_ float GetWidth() const { return mMax.x - mMin.x; } + inline_ float GetHeight() const { return mMax.y - mMin.y; } + inline_ float GetDepth() const { return mMax.z - mMin.z; } + + //! Volume + inline_ float GetVolume() const { return GetWidth() * GetHeight() * GetDepth(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the intersection between two AABBs. + * \param a [in] the other AABB + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Intersect(const AABB& a) const + { + if(mMax.x < a.mMin.x + || a.mMax.x < mMin.x + || mMax.y < a.mMin.y + || a.mMax.y < mMin.y + || mMax.z < a.mMin.z + || a.mMax.z < mMin.z) return FALSE; + + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the 1D-intersection between two AABBs, on a given axis. + * \param a [in] the other AABB + * \param axis [in] the axis (0, 1, 2) + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Intersect(const AABB& a, udword axis) const + { + if(mMax[axis] < a.mMin[axis] || a.mMax[axis] < mMin[axis]) return FALSE; + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Recomputes the AABB after an arbitrary transform by a 4x4 matrix. + * Original code by Charles Bloom on the GD-Algorithm list. (I slightly modified it) + * \param mtx [in] the transform matrix + * \param aabb [out] the transformed AABB [can be *this] + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const + { + // The three edges transformed: you can efficiently transform an X-only vector + // by just getting the "X" column of the matrix + Point vx,vy,vz; + mtx.GetRow(0, vx); vx *= (mMax.x - mMin.x); + mtx.GetRow(1, vy); vy *= (mMax.y - mMin.y); + mtx.GetRow(2, vz); vz *= (mMax.z - mMin.z); + + // Transform the min point + aabb.mMin = aabb.mMax = mMin * mtx; + + // Take the transformed min & axes and find new extents + // Using CPU code in the right place is faster... + if(IS_NEGATIVE_FLOAT(vx.x)) aabb.mMin.x += vx.x; else aabb.mMax.x += vx.x; + if(IS_NEGATIVE_FLOAT(vx.y)) aabb.mMin.y += vx.y; else aabb.mMax.y += vx.y; + if(IS_NEGATIVE_FLOAT(vx.z)) aabb.mMin.z += vx.z; else aabb.mMax.z += vx.z; + if(IS_NEGATIVE_FLOAT(vy.x)) aabb.mMin.x += vy.x; else aabb.mMax.x += vy.x; + if(IS_NEGATIVE_FLOAT(vy.y)) aabb.mMin.y += vy.y; else aabb.mMax.y += vy.y; + if(IS_NEGATIVE_FLOAT(vy.z)) aabb.mMin.z += vy.z; else aabb.mMax.z += vy.z; + if(IS_NEGATIVE_FLOAT(vz.x)) aabb.mMin.x += vz.x; else aabb.mMax.x += vz.x; + if(IS_NEGATIVE_FLOAT(vz.y)) aabb.mMin.y += vz.y; else aabb.mMax.y += vz.y; + if(IS_NEGATIVE_FLOAT(vz.z)) aabb.mMin.z += vz.z; else aabb.mMax.z += vz.z; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the AABB is valid. + * \return true if the box is valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsValid() const + { + // Consistency condition for (Min, Max) boxes: min < max + if(mMin.x > mMax.x) return FALSE; + if(mMin.y > mMax.y) return FALSE; + if(mMin.z > mMax.z) return FALSE; + return TRUE; + } + + //! Operator for AABB *= float. Scales the extents, keeps same center. + inline_ AABB& operator*=(float s) + { + Point Center; GetCenter(Center); + Point Extents; GetExtents(Extents); + SetCenterExtents(Center, Extents * s); + return *this; + } + + //! Operator for AABB /= float. Scales the extents, keeps same center. + inline_ AABB& operator/=(float s) + { + Point Center; GetCenter(Center); + Point Extents; GetExtents(Extents); + SetCenterExtents(Center, Extents / s); + return *this; + } + + //! Operator for AABB += Point. Translates the box. + inline_ AABB& operator+=(const Point& trans) + { + mMin+=trans; + mMax+=trans; + return *this; + } + private: + Point mMin; //!< Min point + Point mMax; //!< Max point + }; + +#else + + class ICEMATHS_API AABB + { + public: + //! Constructor + inline_ AABB() {} + //! Destructor + inline_ ~AABB() {} + + //! Type-independent methods + AABB_COMMON_METHODS; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from min & max vectors. + * \param min [in] the min point + * \param max [in] the max point + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetMinMax(const IcePoint& min, const IcePoint& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from center & extents vectors. + * \param c [in] the center point + * \param e [in] the extents vector + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetCenterExtents(const IcePoint& c, const IcePoint& e) { mCenter = c; mExtents = e; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an empty AABB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetEmpty() { mCenter.Zero(); mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT);} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups a point AABB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetPoint(const IcePoint& pt) { mCenter = pt; mExtents.Zero(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the size of the AABB. The size is defined as the longest extent. + * \return the size of the AABB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + float GetSize() const { return mExtents.Max(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Extends the AABB. + * \param p [in] the next point + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void Extend(const IcePoint& p) + { + IcePoint Max = mCenter + mExtents; + IcePoint Min = mCenter - mExtents; + + if(p.x > Max.x) Max.x = p.x; + if(p.x < Min.x) Min.x = p.x; + + if(p.y > Max.y) Max.y = p.y; + if(p.y < Min.y) Min.y = p.y; + + if(p.z > Max.z) Max.z = p.z; + if(p.z < Min.z) Min.z = p.z; + + SetMinMax(Min, Max); + } + // Data access + + //! Get min point of the box + inline_ void GetMin(IcePoint& min) const { min = mCenter - mExtents; } + //! Get max point of the box + inline_ void GetMax(IcePoint& max) const { max = mCenter + mExtents; } + + //! Get component of the box's min point along a given axis + inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; } + //! Get component of the box's max point along a given axis + inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; } + + //! Get box center + inline_ void GetCenter(IcePoint& center) const { center = mCenter; } + //! Get box extents + inline_ void GetExtents(IcePoint& extents) const { extents = mExtents; } + + //! Get component of the box's center along a given axis + inline_ float GetCenter(udword axis) const { return mCenter[axis]; } + //! Get component of the box's extents along a given axis + inline_ float GetExtents(udword axis) const { return mExtents[axis]; } + + //! Get box diagonal + inline_ void GetDiagonal(IcePoint& diagonal) const { diagonal = mExtents * 2.0f; } + inline_ float GetWidth() const { return mExtents.x * 2.0f; } + inline_ float GetHeight() const { return mExtents.y * 2.0f; } + inline_ float GetDepth() const { return mExtents.z * 2.0f; } + + //! Volume + inline_ float GetVolume() const { return mExtents.x * mExtents.y * mExtents.z * 8.0f; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the intersection between two AABBs. + * \param a [in] the other AABB + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Intersect(const AABB& a) const + { + float tx = mCenter.x - a.mCenter.x; float ex = a.mExtents.x + mExtents.x; if(AIR(tx) > IR(ex)) return FALSE; + float ty = mCenter.y - a.mCenter.y; float ey = a.mExtents.y + mExtents.y; if(AIR(ty) > IR(ey)) return FALSE; + float tz = mCenter.z - a.mCenter.z; float ez = a.mExtents.z + mExtents.z; if(AIR(tz) > IR(ez)) return FALSE; + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * The standard intersection method from Gamasutra. Just here to check its speed against the one above. + * \param a [in] the other AABB + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool GomezIntersect(const AABB& a) + { + IcePoint T = mCenter - a.mCenter; // Vector from A to B + return ((fabsf(T.x) <= (a.mExtents.x + mExtents.x)) + && (fabsf(T.y) <= (a.mExtents.y + mExtents.y)) + && (fabsf(T.z) <= (a.mExtents.z + mExtents.z))); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the 1D-intersection between two AABBs, on a given axis. + * \param a [in] the other AABB + * \param axis [in] the axis (0, 1, 2) + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Intersect(const AABB& a, udword axis) const + { + float t = mCenter[axis] - a.mCenter[axis]; + float e = a.mExtents[axis] + mExtents[axis]; + if(AIR(t) > IR(e)) return FALSE; + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Recomputes the AABB after an arbitrary transform by a 4x4 matrix. + * \param mtx [in] the transform matrix + * \param aabb [out] the transformed AABB [can be *this] + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const + { + // Compute new center + aabb.mCenter = mCenter * mtx; + + // Compute new extents. FPU code & CPU code have been interleaved for improved performance. + IcePoint Ex(mtx.m[0][0] * mExtents.x, mtx.m[0][1] * mExtents.x, mtx.m[0][2] * mExtents.x); + IR(Ex.x)&=0x7fffffff; IR(Ex.y)&=0x7fffffff; IR(Ex.z)&=0x7fffffff; + + IcePoint Ey(mtx.m[1][0] * mExtents.y, mtx.m[1][1] * mExtents.y, mtx.m[1][2] * mExtents.y); + IR(Ey.x)&=0x7fffffff; IR(Ey.y)&=0x7fffffff; IR(Ey.z)&=0x7fffffff; + + IcePoint Ez(mtx.m[2][0] * mExtents.z, mtx.m[2][1] * mExtents.z, mtx.m[2][2] * mExtents.z); + IR(Ez.x)&=0x7fffffff; IR(Ez.y)&=0x7fffffff; IR(Ez.z)&=0x7fffffff; + + aabb.mExtents.x = Ex.x + Ey.x + Ez.x; + aabb.mExtents.y = Ex.y + Ey.y + Ez.y; + aabb.mExtents.z = Ex.z + Ey.z + Ez.z; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the AABB is valid. + * \return true if the box is valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsValid() const + { + // Consistency condition for (Center, Extents) boxes: Extents >= 0 + if(IS_NEGATIVE_FLOAT(mExtents.x)) return FALSE; + if(IS_NEGATIVE_FLOAT(mExtents.y)) return FALSE; + if(IS_NEGATIVE_FLOAT(mExtents.z)) return FALSE; + return TRUE; + } + + //! Operator for AABB *= float. Scales the extents, keeps same center. + inline_ AABB& operator*=(float s) { mExtents*=s; return *this; } + + //! Operator for AABB /= float. Scales the extents, keeps same center. + inline_ AABB& operator/=(float s) { mExtents/=s; return *this; } + + //! Operator for AABB += Point. Translates the box. + inline_ AABB& operator+=(const IcePoint& trans) + { + mCenter+=trans; + return *this; + } + private: + IcePoint mCenter; //!< AABB Center + IcePoint mExtents; //!< x, y and z extents + }; + +#endif + + inline_ void ComputeMinMax(const IcePoint& p, IcePoint& min, IcePoint& max) + { + if(p.x > max.x) max.x = p.x; + if(p.x < min.x) min.x = p.x; + + if(p.y > max.y) max.y = p.y; + if(p.y < min.y) min.y = p.y; + + if(p.z > max.z) max.z = p.z; + if(p.z < min.z) min.z = p.z; + } + + inline_ void ComputeAABB(AABB& aabb, const IcePoint* list, udword nb_pts) + { + if(list) + { + IcePoint Maxi(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); + IcePoint Mini(MAX_FLOAT, MAX_FLOAT, MAX_FLOAT); + while(nb_pts--) + { +// _prefetch(list+1); // off by one ? + ComputeMinMax(*list++, Mini, Maxi); + } + aabb.SetMinMax(Mini, Maxi); + } + } + +#endif // __ICEAABB_H__ diff --git a/Opcode/Ice/IceAxes.h b/Opcode/Ice/IceAxes.h index 39004a9..842b55e 100644 --- a/Opcode/Ice/IceAxes.h +++ b/Opcode/Ice/IceAxes.h @@ -1,54 +1,54 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains axes definition.
- * \file IceAxes.h
- * \author Pierre Terdiman
- * \date January, 29, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEAXES_H__
-#define __ICEAXES_H__
-
- enum PointComponent
- {
- _X = 0,
- _Y = 1,
- _Z = 2,
- _W = 3,
-
- _FORCE_DWORD = 0x7fffffff
- };
-
- enum AxisOrder
- {
- AXES_XYZ = (_X)|(_Y<<2)|(_Z<<4),
- AXES_XZY = (_X)|(_Z<<2)|(_Y<<4),
- AXES_YXZ = (_Y)|(_X<<2)|(_Z<<4),
- AXES_YZX = (_Y)|(_Z<<2)|(_X<<4),
- AXES_ZXY = (_Z)|(_X<<2)|(_Y<<4),
- AXES_ZYX = (_Z)|(_Y<<2)|(_X<<4),
-
- AXES_FORCE_DWORD = 0x7fffffff
- };
-
- class ICEMATHS_API Axes
- {
- public:
-
- inline_ Axes(AxisOrder order)
- {
- mAxis0 = (order ) & 3;
- mAxis1 = (order>>2) & 3;
- mAxis2 = (order>>4) & 3;
- }
- inline_ ~Axes() {}
-
- udword mAxis0;
- udword mAxis1;
- udword mAxis2;
- };
-
-#endif // __ICEAXES_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains axes definition. + * \file IceAxes.h + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEAXES_H__ +#define __ICEAXES_H__ + + enum PointComponent + { + _X = 0, + _Y = 1, + _Z = 2, + _W = 3, + + _FORCE_DWORD = 0x7fffffff + }; + + enum AxisOrder + { + AXES_XYZ = (_X)|(_Y<<2)|(_Z<<4), + AXES_XZY = (_X)|(_Z<<2)|(_Y<<4), + AXES_YXZ = (_Y)|(_X<<2)|(_Z<<4), + AXES_YZX = (_Y)|(_Z<<2)|(_X<<4), + AXES_ZXY = (_Z)|(_X<<2)|(_Y<<4), + AXES_ZYX = (_Z)|(_Y<<2)|(_X<<4), + + AXES_FORCE_DWORD = 0x7fffffff + }; + + class ICEMATHS_API Axes + { + public: + + inline_ Axes(AxisOrder order) + { + mAxis0 = (order ) & 3; + mAxis1 = (order>>2) & 3; + mAxis2 = (order>>4) & 3; + } + inline_ ~Axes() {} + + udword mAxis0; + udword mAxis1; + udword mAxis2; + }; + +#endif // __ICEAXES_H__ diff --git a/Opcode/Ice/IceBoundingSphere.h b/Opcode/Ice/IceBoundingSphere.h index 5cbc5a4..df2861d 100644 --- a/Opcode/Ice/IceBoundingSphere.h +++ b/Opcode/Ice/IceBoundingSphere.h @@ -1,142 +1,142 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code to compute the minimal bounding sphere.
- * \file IceBoundingSphere.h
- * \author Pierre Terdiman
- * \date January, 29, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEBOUNDINGSPHERE_H__
-#define __ICEBOUNDINGSPHERE_H__
-
- enum BSphereMethod
- {
- BS_NONE,
- BS_GEMS,
- BS_MINIBALL,
-
- BS_FORCE_DWORD = 0x7fffffff
- };
-
- class ICEMATHS_API Sphere
- {
- public:
- //! Constructor
- inline_ Sphere() {}
- //! Constructor
- inline_ Sphere(const IcePoint& center, float radius) : mCenter(center), mRadius(radius) {}
- //! Constructor
- Sphere(udword nb_verts, const IcePoint* verts);
- //! Copy constructor
- inline_ Sphere(const Sphere& sphere) : mCenter(sphere.mCenter), mRadius(sphere.mRadius) {}
- //! Destructor
- inline_ ~Sphere() {}
-
- BSphereMethod Compute(udword nb_verts, const IcePoint* verts);
- bool FastCompute(udword nb_verts, const IcePoint* verts);
-
- // Access methods
- inline_ const IcePoint& GetCenter() const { return mCenter; }
- inline_ float GetRadius() const { return mRadius; }
-
- inline_ const IcePoint& Center() const { return mCenter; }
- inline_ float Radius() const { return mRadius; }
-
- inline_ Sphere& Set(const IcePoint& center, float radius) { mCenter = center; mRadius = radius; return *this; }
- inline_ Sphere& SetCenter(const IcePoint& center) { mCenter = center; return *this; }
- inline_ Sphere& SetRadius(float radius) { mRadius = radius; return *this; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Tests if a IcePoint is contained within the sphere.
- * \param p [in] the IcePoint to test
- * \return true if inside the sphere
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ bool Contains(const IcePoint& p) const
- {
- return mCenter.SquareDistance(p) <= mRadius*mRadius;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Tests if a sphere is contained within the sphere.
- * \param sphere [in] the sphere to test
- * \return true if inside the sphere
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ bool Contains(const Sphere& sphere) const
- {
- // If our radius is the smallest, we can't possibly contain the other sphere
- if(mRadius < sphere.mRadius) return false;
- // So r is always positive or null now
- float r = mRadius - sphere.mRadius;
- return mCenter.SquareDistance(sphere.mCenter) <= r*r;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Tests if a box is contained within the sphere.
- * \param aabb [in] the box to test
- * \return true if inside the sphere
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL Contains(const AABB& aabb) const
- {
- // 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?
- float R2 = mRadius * mRadius;
-#ifdef USE_MIN_MAX
- const IcePoint& Max = ((ShadowAABB&)&aabb).mMax;
- const IcePoint& Min = ((ShadowAABB&)&aabb).mMin;
-#else
- IcePoint Max; aabb.GetMax(Max);
- IcePoint Min; aabb.GetMin(Min);
-#endif
- IcePoint p;
- p.x=Max.x; p.y=Max.y; p.z=Max.z; if(mCenter.SquareDistance(p)>=R2) return FALSE;
- p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
- p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE;
- p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
- p.x=Max.x; p.y=Max.y; p.z=Min.z; if(mCenter.SquareDistance(p)>=R2) return FALSE;
- p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
- p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE;
- p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
-
- return TRUE;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Tests if the sphere intersects another sphere
- * \param sphere [in] the other sphere
- * \return true if spheres overlap
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ bool Intersect(const Sphere& sphere) const
- {
- float r = mRadius + sphere.mRadius;
- return mCenter.SquareDistance(sphere.mCenter) <= r*r;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks the sphere is valid.
- * \return true if the box is valid
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL IsValid() const
- {
- // Consistency condition for spheres: Radius >= 0.0f
- if(mRadius < 0.0f) return FALSE;
- return TRUE;
- }
- public:
- IcePoint mCenter; //!< Sphere center
- float mRadius; //!< Sphere radius
- };
-
-#endif // __ICEBOUNDINGSPHERE_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code to compute the minimal bounding sphere. + * \file IceBoundingSphere.h + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEBOUNDINGSPHERE_H__ +#define __ICEBOUNDINGSPHERE_H__ + + enum BSphereMethod + { + BS_NONE, + BS_GEMS, + BS_MINIBALL, + + BS_FORCE_DWORD = 0x7fffffff + }; + + class ICEMATHS_API Sphere + { + public: + //! Constructor + inline_ Sphere() {} + //! Constructor + inline_ Sphere(const IcePoint& center, float radius) : mCenter(center), mRadius(radius) {} + //! Constructor + Sphere(udword nb_verts, const IcePoint* verts); + //! Copy constructor + inline_ Sphere(const Sphere& sphere) : mCenter(sphere.mCenter), mRadius(sphere.mRadius) {} + //! Destructor + inline_ ~Sphere() {} + + BSphereMethod Compute(udword nb_verts, const IcePoint* verts); + bool FastCompute(udword nb_verts, const IcePoint* verts); + + // Access methods + inline_ const IcePoint& GetCenter() const { return mCenter; } + inline_ float GetRadius() const { return mRadius; } + + inline_ const IcePoint& Center() const { return mCenter; } + inline_ float Radius() const { return mRadius; } + + inline_ Sphere& Set(const IcePoint& center, float radius) { mCenter = center; mRadius = radius; return *this; } + inline_ Sphere& SetCenter(const IcePoint& center) { mCenter = center; return *this; } + inline_ Sphere& SetRadius(float radius) { mRadius = radius; return *this; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a IcePoint is contained within the sphere. + * \param p [in] the IcePoint to test + * \return true if inside the sphere + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const IcePoint& p) const + { + return mCenter.SquareDistance(p) <= mRadius*mRadius; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a sphere is contained within the sphere. + * \param sphere [in] the sphere to test + * \return true if inside the sphere + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const Sphere& sphere) const + { + // If our radius is the smallest, we can't possibly contain the other sphere + if(mRadius < sphere.mRadius) return false; + // So r is always positive or null now + float r = mRadius - sphere.mRadius; + return mCenter.SquareDistance(sphere.mCenter) <= r*r; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a box is contained within the sphere. + * \param aabb [in] the box to test + * \return true if inside the sphere + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Contains(const AABB& aabb) const + { + // 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? + float R2 = mRadius * mRadius; +#ifdef USE_MIN_MAX + const IcePoint& Max = ((ShadowAABB&)&aabb).mMax; + const IcePoint& Min = ((ShadowAABB&)&aabb).mMin; +#else + IcePoint Max; aabb.GetMax(Max); + IcePoint Min; aabb.GetMin(Min); +#endif + IcePoint p; + p.x=Max.x; p.y=Max.y; p.z=Max.z; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Max.x; p.y=Max.y; p.z=Min.z; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; + + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if the sphere intersects another sphere + * \param sphere [in] the other sphere + * \return true if spheres overlap + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Intersect(const Sphere& sphere) const + { + float r = mRadius + sphere.mRadius; + return mCenter.SquareDistance(sphere.mCenter) <= r*r; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the sphere is valid. + * \return true if the box is valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsValid() const + { + // Consistency condition for spheres: Radius >= 0.0f + if(mRadius < 0.0f) return FALSE; + return TRUE; + } + public: + IcePoint mCenter; //!< Sphere center + float mRadius; //!< Sphere radius + }; + +#endif // __ICEBOUNDINGSPHERE_H__ diff --git a/Opcode/Ice/IceContainer.cpp b/Opcode/Ice/IceContainer.cpp index 104098b..dc59602 100644 --- a/Opcode/Ice/IceContainer.cpp +++ b/Opcode/Ice/IceContainer.cpp @@ -1,357 +1,357 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a simple container class.
- * \file IceContainer.cpp
- * \author Pierre Terdiman
- * \date February, 5, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a list of 32-bits values.
- * Use this class when you need to store an unknown number of values. The list is automatically
- * resized and can contains 32-bits entities (dwords or floats)
- *
- * \class Container
- * \author Pierre Terdiman
- * \version 1.0
- * \date 08.15.98
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceCore;
-
-// Static members
-#ifdef CONTAINER_STATS
-#ifdef OPCODE_EXPORTS
-udword Container::mNbContainers = 0;
-udword Container::mUsedRam = 0;
-#endif
-#endif
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor. No entries allocated there.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Container::Container() : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2.0f)
-{
-#ifdef CONTAINER_STATS
- mNbContainers++;
- mUsedRam+=sizeof(Container);
-#endif
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor. Also allocates a given number of entries.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Container::Container(udword size, float growth_factor) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(growth_factor)
-{
-#ifdef CONTAINER_STATS
- mNbContainers++;
- mUsedRam+=sizeof(Container);
-#endif
- SetSize(size);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Copy constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Container::Container(const Container& object) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2.0f)
-{
-#ifdef CONTAINER_STATS
- mNbContainers++;
- mUsedRam+=sizeof(Container);
-#endif
- *this = object;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor. Frees everything and leaves.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Container::~Container()
-{
- Empty();
-#ifdef CONTAINER_STATS
- mNbContainers--;
- mUsedRam-=GetUsedRam();
-#endif
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Clears the container. All stored values are deleted, and it frees used ram.
- * \see Reset()
- * \return Self-Reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Container& Container::Empty()
-{
-#ifdef CONTAINER_STATS
- mUsedRam-=mMaxNbEntries*sizeof(udword);
-#endif
- DELETEARRAY(mEntries);
- mCurNbEntries = mMaxNbEntries = 0;
- return *this;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Resizes the container.
- * \param needed [in] assume the container can be added at least "needed" values
- * \return true if success.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Container::Resize(udword needed)
-{
-#ifdef CONTAINER_STATS
- // Subtract previous amount of bytes
- mUsedRam-=mMaxNbEntries*sizeof(udword);
-#endif
-
- // Get more entries
- mMaxNbEntries = mMaxNbEntries ? udword(float(mMaxNbEntries)*mGrowthFactor) : 2; // Default nb Entries = 2
- if(mMaxNbEntries<mCurNbEntries + needed) mMaxNbEntries = mCurNbEntries + needed;
-
- // Get some bytes for new entries
- udword* NewEntries = new udword[mMaxNbEntries];
- CHECKALLOC(NewEntries);
-
-#ifdef CONTAINER_STATS
- // Add current amount of bytes
- mUsedRam+=mMaxNbEntries*sizeof(udword);
-#endif
-
- // Copy old data if needed
- if(mCurNbEntries) CopyMemory(NewEntries, mEntries, mCurNbEntries*sizeof(udword));
-
- // Delete old data
- DELETEARRAY(mEntries);
-
- // Assign new pointer
- mEntries = NewEntries;
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Sets the initial size of the container. If it already contains something, it's discarded.
- * \param nb [in] Number of entries
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Container::SetSize(udword nb)
-{
- // Make sure it's empty
- Empty();
-
- // Checkings
- if(!nb) return false;
-
- // Initialize for nb entries
- mMaxNbEntries = nb;
-
- // Get some bytes for new entries
- mEntries = new udword[mMaxNbEntries];
- CHECKALLOC(mEntries);
-
-#ifdef CONTAINER_STATS
- // Add current amount of bytes
- mUsedRam+=mMaxNbEntries*sizeof(udword);
-#endif
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the container and get rid of unused bytes.
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Container::Refit()
-{
-#ifdef CONTAINER_STATS
- // Subtract previous amount of bytes
- mUsedRam-=mMaxNbEntries*sizeof(udword);
-#endif
-
- // Get just enough entries
- mMaxNbEntries = mCurNbEntries;
- if(!mMaxNbEntries) return false;
-
- // Get just enough bytes
- udword* NewEntries = new udword[mMaxNbEntries];
- CHECKALLOC(NewEntries);
-
-#ifdef CONTAINER_STATS
- // Add current amount of bytes
- mUsedRam+=mMaxNbEntries*sizeof(udword);
-#endif
-
- // Copy old data
- CopyMemory(NewEntries, mEntries, mCurNbEntries*sizeof(udword));
-
- // Delete old data
- DELETEARRAY(mEntries);
-
- // Assign new pointer
- mEntries = NewEntries;
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks whether the container already contains a given value.
- * \param entry [in] the value to look for in the container
- * \param location [out] a possible pointer to store the entry location
- * \see Add(udword entry)
- * \see Add(float entry)
- * \see Empty()
- * \return true if the value has been found in the container, else false.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Container::Contains(udword entry, udword* location) const
-{
- // Look for the entry
- for(udword i=0;i<mCurNbEntries;i++)
- {
- if(mEntries[i]==entry)
- {
- if(location) *location = i;
- return true;
- }
- }
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Deletes an entry. If the container contains such an entry, it's removed.
- * \param entry [in] the value to delete.
- * \return true if the value has been found in the container, else false.
- * \warning This method is arbitrary slow (O(n)) and should be used carefully. Insertion order is not preserved.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Container::Delete(udword entry)
-{
- // Look for the entry
- for(udword i=0;i<mCurNbEntries;i++)
- {
- if(mEntries[i]==entry)
- {
- // Entry has been found at index i. The strategy is to copy the last current entry at index i, and decrement the current number of entries.
- DeleteIndex(i);
- return true;
- }
- }
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Deletes an entry, preserving the insertion order. If the container contains such an entry, it's removed.
- * \param entry [in] the value to delete.
- * \return true if the value has been found in the container, else false.
- * \warning This method is arbitrary slow (O(n)) and should be used carefully.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Container::DeleteKeepingOrder(udword entry)
-{
- // Look for the entry
- for(udword i=0;i<mCurNbEntries;i++)
- {
- if(mEntries[i]==entry)
- {
- // Entry has been found at index i.
- // Shift entries to preserve order. You really should use a linked list instead.
- mCurNbEntries--;
- for(udword j=i;j<mCurNbEntries;j++)
- {
- mEntries[j] = mEntries[j+1];
- }
- return true;
- }
- }
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets the next entry, starting from input one.
- * \param entry [in/out] On input, the entry to look for. On output, the next entry
- * \param find_mode [in] wrap/clamp
- * \return Self-Reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Container& Container::FindNext(udword& entry, FindMode find_mode)
-{
- udword Location;
- if(Contains(entry, &Location))
- {
- Location++;
- if(Location==mCurNbEntries) Location = find_mode==FIND_WRAP ? 0 : mCurNbEntries-1;
- entry = mEntries[Location];
- }
- return *this;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets the previous entry, starting from input one.
- * \param entry [in/out] On input, the entry to look for. On output, the previous entry
- * \param find_mode [in] wrap/clamp
- * \return Self-Reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Container& Container::FindPrev(udword& entry, FindMode find_mode)
-{
- udword Location;
- if(Contains(entry, &Location))
- {
- Location--;
- if(Location==0xffffffff) Location = find_mode==FIND_WRAP ? mCurNbEntries-1 : 0;
- entry = mEntries[Location];
- }
- return *this;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets the ram used by the container.
- * \return the ram used in bytes.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword Container::GetUsedRam() const
-{
- return sizeof(Container) + mMaxNbEntries * sizeof(udword);
-}
-
-void Container::operator=(const Container& object)
-{
- SetSize(object.GetNbEntries());
- CopyMemory(mEntries, object.GetEntries(), mMaxNbEntries*sizeof(udword));
- mCurNbEntries = mMaxNbEntries;
-}
-
-udword Container::GetNbContainers() const
-{
- return mNbContainers;
-}
-
-udword Container::GetTotalBytes() const
-{
- return mUsedRam;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a simple container class. + * \file IceContainer.cpp + * \author Pierre Terdiman + * \date February, 5, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a list of 32-bits values. + * Use this class when you need to store an unknown number of values. The list is automatically + * resized and can contains 32-bits entities (dwords or floats) + * + * \class Container + * \author Pierre Terdiman + * \version 1.0 + * \date 08.15.98 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceCore; + +// Static members +#ifdef CONTAINER_STATS +#ifdef OPCODE_EXPORTS +udword Container::mNbContainers = 0; +udword Container::mUsedRam = 0; +#endif +#endif + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. No entries allocated there. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container::Container() : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2.0f) +{ +#ifdef CONTAINER_STATS + mNbContainers++; + mUsedRam+=sizeof(Container); +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. Also allocates a given number of entries. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container::Container(udword size, float growth_factor) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(growth_factor) +{ +#ifdef CONTAINER_STATS + mNbContainers++; + mUsedRam+=sizeof(Container); +#endif + SetSize(size); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Copy constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container::Container(const Container& object) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2.0f) +{ +#ifdef CONTAINER_STATS + mNbContainers++; + mUsedRam+=sizeof(Container); +#endif + *this = object; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. Frees everything and leaves. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container::~Container() +{ + Empty(); +#ifdef CONTAINER_STATS + mNbContainers--; + mUsedRam-=GetUsedRam(); +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Clears the container. All stored values are deleted, and it frees used ram. + * \see Reset() + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container& Container::Empty() +{ +#ifdef CONTAINER_STATS + mUsedRam-=mMaxNbEntries*sizeof(udword); +#endif + DELETEARRAY(mEntries); + mCurNbEntries = mMaxNbEntries = 0; + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Resizes the container. + * \param needed [in] assume the container can be added at least "needed" values + * \return true if success. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::Resize(udword needed) +{ +#ifdef CONTAINER_STATS + // Subtract previous amount of bytes + mUsedRam-=mMaxNbEntries*sizeof(udword); +#endif + + // Get more entries + mMaxNbEntries = mMaxNbEntries ? udword(float(mMaxNbEntries)*mGrowthFactor) : 2; // Default nb Entries = 2 + if(mMaxNbEntries<mCurNbEntries + needed) mMaxNbEntries = mCurNbEntries + needed; + + // Get some bytes for new entries + udword* NewEntries = new udword[mMaxNbEntries]; + CHECKALLOC(NewEntries); + +#ifdef CONTAINER_STATS + // Add current amount of bytes + mUsedRam+=mMaxNbEntries*sizeof(udword); +#endif + + // Copy old data if needed + if(mCurNbEntries) CopyMemory(NewEntries, mEntries, mCurNbEntries*sizeof(udword)); + + // Delete old data + DELETEARRAY(mEntries); + + // Assign new pointer + mEntries = NewEntries; + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Sets the initial size of the container. If it already contains something, it's discarded. + * \param nb [in] Number of entries + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::SetSize(udword nb) +{ + // Make sure it's empty + Empty(); + + // Checkings + if(!nb) return false; + + // Initialize for nb entries + mMaxNbEntries = nb; + + // Get some bytes for new entries + mEntries = new udword[mMaxNbEntries]; + CHECKALLOC(mEntries); + +#ifdef CONTAINER_STATS + // Add current amount of bytes + mUsedRam+=mMaxNbEntries*sizeof(udword); +#endif + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the container and get rid of unused bytes. + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::Refit() +{ +#ifdef CONTAINER_STATS + // Subtract previous amount of bytes + mUsedRam-=mMaxNbEntries*sizeof(udword); +#endif + + // Get just enough entries + mMaxNbEntries = mCurNbEntries; + if(!mMaxNbEntries) return false; + + // Get just enough bytes + udword* NewEntries = new udword[mMaxNbEntries]; + CHECKALLOC(NewEntries); + +#ifdef CONTAINER_STATS + // Add current amount of bytes + mUsedRam+=mMaxNbEntries*sizeof(udword); +#endif + + // Copy old data + CopyMemory(NewEntries, mEntries, mCurNbEntries*sizeof(udword)); + + // Delete old data + DELETEARRAY(mEntries); + + // Assign new pointer + mEntries = NewEntries; + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks whether the container already contains a given value. + * \param entry [in] the value to look for in the container + * \param location [out] a possible pointer to store the entry location + * \see Add(udword entry) + * \see Add(float entry) + * \see Empty() + * \return true if the value has been found in the container, else false. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::Contains(udword entry, udword* location) const +{ + // Look for the entry + for(udword i=0;i<mCurNbEntries;i++) + { + if(mEntries[i]==entry) + { + if(location) *location = i; + return true; + } + } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Deletes an entry. If the container contains such an entry, it's removed. + * \param entry [in] the value to delete. + * \return true if the value has been found in the container, else false. + * \warning This method is arbitrary slow (O(n)) and should be used carefully. Insertion order is not preserved. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::Delete(udword entry) +{ + // Look for the entry + for(udword i=0;i<mCurNbEntries;i++) + { + if(mEntries[i]==entry) + { + // Entry has been found at index i. The strategy is to copy the last current entry at index i, and decrement the current number of entries. + DeleteIndex(i); + return true; + } + } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Deletes an entry, preserving the insertion order. If the container contains such an entry, it's removed. + * \param entry [in] the value to delete. + * \return true if the value has been found in the container, else false. + * \warning This method is arbitrary slow (O(n)) and should be used carefully. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::DeleteKeepingOrder(udword entry) +{ + // Look for the entry + for(udword i=0;i<mCurNbEntries;i++) + { + if(mEntries[i]==entry) + { + // Entry has been found at index i. + // Shift entries to preserve order. You really should use a linked list instead. + mCurNbEntries--; + for(udword j=i;j<mCurNbEntries;j++) + { + mEntries[j] = mEntries[j+1]; + } + return true; + } + } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the next entry, starting from input one. + * \param entry [in/out] On input, the entry to look for. On output, the next entry + * \param find_mode [in] wrap/clamp + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container& Container::FindNext(udword& entry, FindMode find_mode) +{ + udword Location; + if(Contains(entry, &Location)) + { + Location++; + if(Location==mCurNbEntries) Location = find_mode==FIND_WRAP ? 0 : mCurNbEntries-1; + entry = mEntries[Location]; + } + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the previous entry, starting from input one. + * \param entry [in/out] On input, the entry to look for. On output, the previous entry + * \param find_mode [in] wrap/clamp + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container& Container::FindPrev(udword& entry, FindMode find_mode) +{ + udword Location; + if(Contains(entry, &Location)) + { + Location--; + if(Location==0xffffffff) Location = find_mode==FIND_WRAP ? mCurNbEntries-1 : 0; + entry = mEntries[Location]; + } + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the ram used by the container. + * \return the ram used in bytes. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword Container::GetUsedRam() const +{ + return sizeof(Container) + mMaxNbEntries * sizeof(udword); +} + +void Container::operator=(const Container& object) +{ + SetSize(object.GetNbEntries()); + CopyMemory(mEntries, object.GetEntries(), mMaxNbEntries*sizeof(udword)); + mCurNbEntries = mMaxNbEntries; +} + +udword Container::GetNbContainers() const +{ + return mNbContainers; +} + +udword Container::GetTotalBytes() const +{ + return mUsedRam; +} diff --git a/Opcode/Ice/IceContainer.h b/Opcode/Ice/IceContainer.h index 2660cc8..1284b3d 100644 --- a/Opcode/Ice/IceContainer.h +++ b/Opcode/Ice/IceContainer.h @@ -1,212 +1,212 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a simple container class.
- * \file IceContainer.h
- * \author Pierre Terdiman
- * \date February, 5, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICECONTAINER_H__
-#define __ICECONTAINER_H__
-
- #define CONTAINER_STATS
-
- enum FindMode
- {
- FIND_CLAMP,
- FIND_WRAP,
-
- FIND_FORCE_DWORD = 0x7fffffff
- };
-
- class ICECORE_API Container
- {
- public:
- // Constructor / Destructor
- Container();
- Container(const Container& object);
- Container(udword size, float growth_factor);
- ~Container();
- // Management
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * A O(1) method to add a value in the container. The container is automatically resized if needed.
- * The method is inline, not the resize. The call overhead happens on resizes only, which is not a problem since the resizing operation
- * costs a lot more than the call overhead...
- *
- * \param entry [in] a udword to store in the container
- * \see Add(float entry)
- * \see Empty()
- * \see Contains(udword entry)
- * \return Self-Reference
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ Container& Add(udword entry)
- {
- // Resize if needed
- if(mCurNbEntries==mMaxNbEntries) Resize();
-
- // Add new entry
- mEntries[mCurNbEntries++] = entry;
- return *this;
- }
-
- inline_ Container& Add(const udword* entries, udword nb)
- {
- // Resize if needed
- if(mCurNbEntries+nb>mMaxNbEntries) Resize(nb);
-
- // Add new entry
- CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(udword));
- mCurNbEntries+=nb;
- return *this;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * A O(1) method to add a value in the container. The container is automatically resized if needed.
- * The method is inline, not the resize. The call overhead happens on resizes only, which is not a problem since the resizing operation
- * costs a lot more than the call overhead...
- *
- * \param entry [in] a float to store in the container
- * \see Add(udword entry)
- * \see Empty()
- * \see Contains(udword entry)
- * \return Self-Reference
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ Container& Add(float entry)
- {
- // Resize if needed
- if(mCurNbEntries==mMaxNbEntries) Resize();
-
- // Add new entry
- mEntries[mCurNbEntries++] = IR(entry);
- return *this;
- }
-
- inline_ Container& Add(const float* entries, udword nb)
- {
- // Resize if needed
- if(mCurNbEntries+nb>mMaxNbEntries) Resize(nb);
-
- // Add new entry
- CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(float));
- mCurNbEntries+=nb;
- return *this;
- }
-
- //! Add unique [slow]
- inline_ Container& AddUnique(udword entry)
- {
- if(!Contains(entry)) Add(entry);
- return *this;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Clears the container. All stored values are deleted, and it frees used ram.
- * \see Reset()
- * \return Self-Reference
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- Container& Empty();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Resets the container. Stored values are discarded but the buffer is kept so that further calls don't need resizing again.
- * That's a kind of temporal coherence.
- * \see Empty()
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void Reset()
- {
- // Avoid the write if possible
- // ### CMOV
- if(mCurNbEntries) mCurNbEntries = 0;
- }
-
- // HANDLE WITH CARE
- inline_ void ForceSize(udword size)
- {
- mCurNbEntries = size;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Sets the initial size of the container. If it already contains something, it's discarded.
- * \param nb [in] Number of entries
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool SetSize(udword nb);
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Refits the container and get rid of unused bytes.
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool Refit();
-
- // Checks whether the container already contains a given value.
- bool Contains(udword entry, udword* location=null) const;
- // Deletes an entry - doesn't preserve insertion order.
- bool Delete(udword entry);
- // Deletes an entry - does preserve insertion order.
- bool DeleteKeepingOrder(udword entry);
- //! Deletes the very last entry.
- inline_ void DeleteLastEntry() { if(mCurNbEntries) mCurNbEntries--; }
- //! Deletes the entry whose index is given
- inline_ void DeleteIndex(udword index) { mEntries[index] = mEntries[--mCurNbEntries]; }
-
- // Helpers
- Container& FindNext(udword& entry, FindMode find_mode=FIND_CLAMP);
- Container& FindPrev(udword& entry, FindMode find_mode=FIND_CLAMP);
- // Data access.
- inline_ udword GetNbEntries() const { return mCurNbEntries; } //!< Returns the current number of entries.
- inline_ udword GetEntry(udword i) const { return mEntries[i]; } //!< Returns ith entry
- inline_ udword* GetEntries() const { return mEntries; } //!< Returns the list of entries.
-
- inline_ udword GetFirst() const { return mEntries[0]; }
- inline_ udword GetLast() const { return mEntries[mCurNbEntries-1]; }
-
- // Growth control
- inline_ float GetGrowthFactor() const { return mGrowthFactor; } //!< Returns the growth factor
- inline_ void SetGrowthFactor(float growth) { mGrowthFactor = growth; } //!< Sets the growth factor
- inline_ bool IsFull() const { return mCurNbEntries==mMaxNbEntries; } //!< Checks the container is full
- inline_ BOOL IsNotEmpty() const { return mCurNbEntries; } //!< Checks the container is empty
-
- //! Read-access as an array
- inline_ udword operator[](udword i) const { ASSERT(i>=0 && i<mCurNbEntries); return mEntries[i]; }
- //! Write-access as an array
- inline_ udword& operator[](udword i) { ASSERT(i>=0 && i<mCurNbEntries); return mEntries[i]; }
-
- // Stats
- udword GetUsedRam() const;
-
- //! Operator for "Container A = Container B"
- void operator = (const Container& object);
-
-#ifdef CONTAINER_STATS
- udword GetNbContainers() const;
- udword GetTotalBytes() const;
- private:
-
- static udword mNbContainers; //!< Number of containers around
- static udword mUsedRam; //!< Amount of bytes used by containers in the system
-#endif
- private:
- // Resizing
- bool Resize(udword needed=1);
- // Data
- udword mMaxNbEntries; //!< Maximum possible number of entries
- udword mCurNbEntries; //!< Current number of entries
- udword* mEntries; //!< List of entries
- float mGrowthFactor; //!< Resize: new number of entries = old number * mGrowthFactor
- };
-
-#endif // __ICECONTAINER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a simple container class. + * \file IceContainer.h + * \author Pierre Terdiman + * \date February, 5, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICECONTAINER_H__ +#define __ICECONTAINER_H__ + + #define CONTAINER_STATS + + enum FindMode + { + FIND_CLAMP, + FIND_WRAP, + + FIND_FORCE_DWORD = 0x7fffffff + }; + + class ICECORE_API Container + { + public: + // Constructor / Destructor + Container(); + Container(const Container& object); + Container(udword size, float growth_factor); + ~Container(); + // Management + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * A O(1) method to add a value in the container. The container is automatically resized if needed. + * The method is inline, not the resize. The call overhead happens on resizes only, which is not a problem since the resizing operation + * costs a lot more than the call overhead... + * + * \param entry [in] a udword to store in the container + * \see Add(float entry) + * \see Empty() + * \see Contains(udword entry) + * \return Self-Reference + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ Container& Add(udword entry) + { + // Resize if needed + if(mCurNbEntries==mMaxNbEntries) Resize(); + + // Add new entry + mEntries[mCurNbEntries++] = entry; + return *this; + } + + inline_ Container& Add(const udword* entries, udword nb) + { + // Resize if needed + if(mCurNbEntries+nb>mMaxNbEntries) Resize(nb); + + // Add new entry + CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(udword)); + mCurNbEntries+=nb; + return *this; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * A O(1) method to add a value in the container. The container is automatically resized if needed. + * The method is inline, not the resize. The call overhead happens on resizes only, which is not a problem since the resizing operation + * costs a lot more than the call overhead... + * + * \param entry [in] a float to store in the container + * \see Add(udword entry) + * \see Empty() + * \see Contains(udword entry) + * \return Self-Reference + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ Container& Add(float entry) + { + // Resize if needed + if(mCurNbEntries==mMaxNbEntries) Resize(); + + // Add new entry + mEntries[mCurNbEntries++] = IR(entry); + return *this; + } + + inline_ Container& Add(const float* entries, udword nb) + { + // Resize if needed + if(mCurNbEntries+nb>mMaxNbEntries) Resize(nb); + + // Add new entry + CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(float)); + mCurNbEntries+=nb; + return *this; + } + + //! Add unique [slow] + inline_ Container& AddUnique(udword entry) + { + if(!Contains(entry)) Add(entry); + return *this; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Clears the container. All stored values are deleted, and it frees used ram. + * \see Reset() + * \return Self-Reference + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + Container& Empty(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Resets the container. Stored values are discarded but the buffer is kept so that further calls don't need resizing again. + * That's a kind of temporal coherence. + * \see Empty() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void Reset() + { + // Avoid the write if possible + // ### CMOV + if(mCurNbEntries) mCurNbEntries = 0; + } + + // HANDLE WITH CARE + inline_ void ForceSize(udword size) + { + mCurNbEntries = size; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Sets the initial size of the container. If it already contains something, it's discarded. + * \param nb [in] Number of entries + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool SetSize(udword nb); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Refits the container and get rid of unused bytes. + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool Refit(); + + // Checks whether the container already contains a given value. + bool Contains(udword entry, udword* location=null) const; + // Deletes an entry - doesn't preserve insertion order. + bool Delete(udword entry); + // Deletes an entry - does preserve insertion order. + bool DeleteKeepingOrder(udword entry); + //! Deletes the very last entry. + inline_ void DeleteLastEntry() { if(mCurNbEntries) mCurNbEntries--; } + //! Deletes the entry whose index is given + inline_ void DeleteIndex(udword index) { mEntries[index] = mEntries[--mCurNbEntries]; } + + // Helpers + Container& FindNext(udword& entry, FindMode find_mode=FIND_CLAMP); + Container& FindPrev(udword& entry, FindMode find_mode=FIND_CLAMP); + // Data access. + inline_ udword GetNbEntries() const { return mCurNbEntries; } //!< Returns the current number of entries. + inline_ udword GetEntry(udword i) const { return mEntries[i]; } //!< Returns ith entry + inline_ udword* GetEntries() const { return mEntries; } //!< Returns the list of entries. + + inline_ udword GetFirst() const { return mEntries[0]; } + inline_ udword GetLast() const { return mEntries[mCurNbEntries-1]; } + + // Growth control + inline_ float GetGrowthFactor() const { return mGrowthFactor; } //!< Returns the growth factor + inline_ void SetGrowthFactor(float growth) { mGrowthFactor = growth; } //!< Sets the growth factor + inline_ bool IsFull() const { return mCurNbEntries==mMaxNbEntries; } //!< Checks the container is full + inline_ BOOL IsNotEmpty() const { return mCurNbEntries; } //!< Checks the container is empty + + //! Read-access as an array + inline_ udword operator[](udword i) const { ASSERT(i>=0 && i<mCurNbEntries); return mEntries[i]; } + //! Write-access as an array + inline_ udword& operator[](udword i) { ASSERT(i>=0 && i<mCurNbEntries); return mEntries[i]; } + + // Stats + udword GetUsedRam() const; + + //! Operator for "Container A = Container B" + void operator = (const Container& object); + +#ifdef CONTAINER_STATS + udword GetNbContainers() const; + udword GetTotalBytes() const; + private: + + static udword mNbContainers; //!< Number of containers around + static udword mUsedRam; //!< Amount of bytes used by containers in the system +#endif + private: + // Resizing + bool Resize(udword needed=1); + // Data + udword mMaxNbEntries; //!< Maximum possible number of entries + udword mCurNbEntries; //!< Current number of entries + udword* mEntries; //!< List of entries + float mGrowthFactor; //!< Resize: new number of entries = old number * mGrowthFactor + }; + +#endif // __ICECONTAINER_H__ diff --git a/Opcode/Ice/IceFPU.h b/Opcode/Ice/IceFPU.h index 18ad7ae..c05fd44 100644 --- a/Opcode/Ice/IceFPU.h +++ b/Opcode/Ice/IceFPU.h @@ -1,237 +1,237 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains FPU related code.
- * \file IceFPU.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEFPU_H__
-#define __ICEFPU_H__
-
- #include <algorithm>
- #include <cmath>
-
- #define SIGN_BITMASK 0x80000000
-
- //! Integer representation of a floating-point value.
- #define IR(x) ((udword&)(x))
-
- //! Signed integer representation of a floating-point value.
- #define SIR(x) ((sdword&)(x))
-
- //! Absolute integer representation of a floating-point value
- #define AIR(x) (IR(x)&0x7fffffff)
-
- //! Floating-point representation of an integer value.
- #define FR(x) ((float&)(x))
-
- //! Integer-based comparison of a floating point value.
- //! Don't use it blindly, it can be faster or slower than the FPU comparison, depends on the context.
- #define IS_NEGATIVE_FLOAT(x) (IR(x)&0x80000000)
-
- //! Fast fabs for floating-point values. It just clears the sign bit.
- //! Don't use it blindy, it can be faster or slower than the FPU comparison, depends on the context.
- inline_ float FastFabs(float x)
- {
- udword FloatBits = IR(x)&0x7fffffff;
- return FR(FloatBits);
- }
-
- //! Fast square root for floating-point values.
- inline_ float FastSqrt(float square)
- {
- return std::sqrt(square);
- }
-
- //! Saturates positive to zero.
- inline_ float fsat(float f)
- {
- udword y = (udword&)f & ~((sdword&)f >>31);
- return (float&)y;
- }
-
- //! Computes 1.0f / sqrtf(x).
- inline_ float frsqrt(float f)
- {
- float x = f * 0.5f;
- udword y = 0x5f3759df - ((udword&)f >> 1);
- // Iteration...
- (float&)y = (float&)y * ( 1.5f - ( x * (float&)y * (float&)y ) );
- // Result
- return (float&)y;
- }
-
- //! Computes 1.0f / sqrtf(x). Comes from NVIDIA.
- inline_ float InvSqrt(const float& x)
- {
- udword tmp = (udword(IEEE_1_0 << 1) + IEEE_1_0 - *(udword*)&x) >> 1;
- float y = *(float*)&tmp;
- return y * (1.47f - 0.47f * x * y * y);
- }
-
- //! Computes 1.0f / sqrtf(x). Comes from Quake3. Looks like the first one I had above.
- //! See http://www.magic-software.com/3DGEDInvSqrt.html
- inline_ float RSqrt(float number)
- {
- long i;
- float x2, y;
- const float threehalfs = 1.5f;
-
- x2 = number * 0.5f;
- y = number;
- i = * (long *) &y;
- i = 0x5f3759df - (i >> 1);
- y = * (float *) &i;
- y = y * (threehalfs - (x2 * y * y));
-
- return y;
- }
-
- //! TO BE DOCUMENTED
- inline_ float fsqrt(float f)
- {
- udword y = ( ( (sdword&)f - 0x3f800000 ) >> 1 ) + 0x3f800000;
- // Iteration...?
- // (float&)y = (3.0f - ((float&)y * (float&)y) / f) * (float&)y * 0.5f;
- // Result
- return (float&)y;
- }
-
- //! Returns the float ranged espilon value.
- inline_ float fepsilon(float f)
- {
- udword b = (udword&)f & 0xff800000;
- udword a = b | 0x00000001;
- (float&)a -= (float&)b;
- // Result
- return (float&)a;
- }
-
- //! Is the float valid ?
- inline_ bool IsNAN(float value) { return (IR(value)&0x7f800000) == 0x7f800000; }
- inline_ bool IsIndeterminate(float value) { return IR(value) == 0xffc00000; }
- inline_ bool IsPlusInf(float value) { return IR(value) == 0x7f800000; }
- inline_ bool IsMinusInf(float value) { return IR(value) == 0xff800000; }
-
- inline_ bool IsValidFloat(float value)
- {
- if(IsNAN(value)) return false;
- if(IsIndeterminate(value)) return false;
- if(IsPlusInf(value)) return false;
- if(IsMinusInf(value)) return false;
- return true;
- }
-
- #define CHECK_VALID_FLOAT(x) ASSERT(IsValidFloat(x));
-
-/*
- //! FPU precision setting function.
- inline_ void SetFPU()
- {
- // This function evaluates whether the floating-point
- // control word is set to single precision/round to nearest/
- // exceptions disabled. If these conditions don't hold, the
- // function changes the control word to set them and returns
- // TRUE, putting the old control word value in the passback
- // location pointed to by pwOldCW.
- {
- uword wTemp, wSave;
-
- __asm fstcw wSave
- if (wSave & 0x300 || // Not single mode
- 0x3f != (wSave & 0x3f) || // Exceptions enabled
- wSave & 0xC00) // Not round to nearest mode
- {
- __asm
- {
- mov ax, wSave
- and ax, not 300h ;; single mode
- or ax, 3fh ;; disable all exceptions
- and ax, not 0xC00 ;; round to nearest mode
- mov wTemp, ax
- fldcw wTemp
- }
- }
- }
- }
-*/
- //! This function computes the slowest possible floating-point value (you can also directly use FLT_EPSILON)
- inline_ float ComputeFloatEpsilon()
- {
- float f = 1.0f;
- ((udword&)f)^=1;
- return f - 1.0f; // You can check it's the same as FLT_EPSILON
- }
-
- inline_ bool IsFloatZero(float x, float epsilon=1e-6f)
- {
- return x*x < epsilon;
- }
-
- //! A global function to find MAX(a,b) using FCOMI/FCMOV
- inline_ float FCMax2(float a, float b)
- {
- return std::max(a, b);
- }
-
- //! A global function to find MIN(a,b) using FCOMI/FCMOV
- inline_ float FCMin2(float a, float b)
- {
- return std::min(a, b);
- }
-
- //! A global function to find MAX(a,b,c) using FCOMI/FCMOV
- inline_ float FCMax3(float a, float b, float c)
- {
- return std::max(std::max(a, b), c);
- }
-
- //! A global function to find MIN(a,b,c) using FCOMI/FCMOV
- inline_ float FCMin3(float a, float b, float c)
- {
- return std::min(std::min(a, b), c);
- }
-
- inline_ int ConvertToSortable(float f)
- {
- int& Fi = (int&)f;
- int Fmask = (Fi>>31);
- Fi ^= Fmask;
- Fmask &= ~(1<<31);
- Fi -= Fmask;
- return Fi;
- }
-
- enum FPUMode
- {
- FPU_FLOOR = 0,
- FPU_CEIL = 1,
- FPU_BEST = 2,
-
- FPU_FORCE_DWORD = 0x7fffffff
- };
-
- FUNCTION ICECORE_API FPUMode GetFPUMode();
- FUNCTION ICECORE_API void SaveFPU();
- FUNCTION ICECORE_API void RestoreFPU();
- FUNCTION ICECORE_API void SetFPUFloorMode();
- FUNCTION ICECORE_API void SetFPUCeilMode();
- FUNCTION ICECORE_API void SetFPUBestMode();
-
- FUNCTION ICECORE_API void SetFPUPrecision24();
- FUNCTION ICECORE_API void SetFPUPrecision53();
- FUNCTION ICECORE_API void SetFPUPrecision64();
- FUNCTION ICECORE_API void SetFPURoundingChop();
- FUNCTION ICECORE_API void SetFPURoundingUp();
- FUNCTION ICECORE_API void SetFPURoundingDown();
- FUNCTION ICECORE_API void SetFPURoundingNear();
-
- FUNCTION ICECORE_API int intChop(const float& f);
- FUNCTION ICECORE_API int intFloor(const float& f);
- FUNCTION ICECORE_API int intCeil(const float& f);
-
-#endif // __ICEFPU_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains FPU related code. + * \file IceFPU.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEFPU_H__ +#define __ICEFPU_H__ + + #include <algorithm> + #include <cmath> + + #define SIGN_BITMASK 0x80000000 + + //! Integer representation of a floating-point value. + #define IR(x) ((udword&)(x)) + + //! Signed integer representation of a floating-point value. + #define SIR(x) ((sdword&)(x)) + + //! Absolute integer representation of a floating-point value + #define AIR(x) (IR(x)&0x7fffffff) + + //! Floating-point representation of an integer value. + #define FR(x) ((float&)(x)) + + //! Integer-based comparison of a floating point value. + //! Don't use it blindly, it can be faster or slower than the FPU comparison, depends on the context. + #define IS_NEGATIVE_FLOAT(x) (IR(x)&0x80000000) + + //! Fast fabs for floating-point values. It just clears the sign bit. + //! Don't use it blindy, it can be faster or slower than the FPU comparison, depends on the context. + inline_ float FastFabs(float x) + { + udword FloatBits = IR(x)&0x7fffffff; + return FR(FloatBits); + } + + //! Fast square root for floating-point values. + inline_ float FastSqrt(float square) + { + return std::sqrt(square); + } + + //! Saturates positive to zero. + inline_ float fsat(float f) + { + udword y = (udword&)f & ~((sdword&)f >>31); + return (float&)y; + } + + //! Computes 1.0f / sqrtf(x). + inline_ float frsqrt(float f) + { + float x = f * 0.5f; + udword y = 0x5f3759df - ((udword&)f >> 1); + // Iteration... + (float&)y = (float&)y * ( 1.5f - ( x * (float&)y * (float&)y ) ); + // Result + return (float&)y; + } + + //! Computes 1.0f / sqrtf(x). Comes from NVIDIA. + inline_ float InvSqrt(const float& x) + { + udword tmp = (udword(IEEE_1_0 << 1) + IEEE_1_0 - *(udword*)&x) >> 1; + float y = *(float*)&tmp; + return y * (1.47f - 0.47f * x * y * y); + } + + //! Computes 1.0f / sqrtf(x). Comes from Quake3. Looks like the first one I had above. + //! See http://www.magic-software.com/3DGEDInvSqrt.html + inline_ float RSqrt(float number) + { + long i; + float x2, y; + const float threehalfs = 1.5f; + + x2 = number * 0.5f; + y = number; + i = * (long *) &y; + i = 0x5f3759df - (i >> 1); + y = * (float *) &i; + y = y * (threehalfs - (x2 * y * y)); + + return y; + } + + //! TO BE DOCUMENTED + inline_ float fsqrt(float f) + { + udword y = ( ( (sdword&)f - 0x3f800000 ) >> 1 ) + 0x3f800000; + // Iteration...? + // (float&)y = (3.0f - ((float&)y * (float&)y) / f) * (float&)y * 0.5f; + // Result + return (float&)y; + } + + //! Returns the float ranged espilon value. + inline_ float fepsilon(float f) + { + udword b = (udword&)f & 0xff800000; + udword a = b | 0x00000001; + (float&)a -= (float&)b; + // Result + return (float&)a; + } + + //! Is the float valid ? + inline_ bool IsNAN(float value) { return (IR(value)&0x7f800000) == 0x7f800000; } + inline_ bool IsIndeterminate(float value) { return IR(value) == 0xffc00000; } + inline_ bool IsPlusInf(float value) { return IR(value) == 0x7f800000; } + inline_ bool IsMinusInf(float value) { return IR(value) == 0xff800000; } + + inline_ bool IsValidFloat(float value) + { + if(IsNAN(value)) return false; + if(IsIndeterminate(value)) return false; + if(IsPlusInf(value)) return false; + if(IsMinusInf(value)) return false; + return true; + } + + #define CHECK_VALID_FLOAT(x) ASSERT(IsValidFloat(x)); + +/* + //! FPU precision setting function. + inline_ void SetFPU() + { + // This function evaluates whether the floating-point + // control word is set to single precision/round to nearest/ + // exceptions disabled. If these conditions don't hold, the + // function changes the control word to set them and returns + // TRUE, putting the old control word value in the passback + // location pointed to by pwOldCW. + { + uword wTemp, wSave; + + __asm fstcw wSave + if (wSave & 0x300 || // Not single mode + 0x3f != (wSave & 0x3f) || // Exceptions enabled + wSave & 0xC00) // Not round to nearest mode + { + __asm + { + mov ax, wSave + and ax, not 300h ;; single mode + or ax, 3fh ;; disable all exceptions + and ax, not 0xC00 ;; round to nearest mode + mov wTemp, ax + fldcw wTemp + } + } + } + } +*/ + //! This function computes the slowest possible floating-point value (you can also directly use FLT_EPSILON) + inline_ float ComputeFloatEpsilon() + { + float f = 1.0f; + ((udword&)f)^=1; + return f - 1.0f; // You can check it's the same as FLT_EPSILON + } + + inline_ bool IsFloatZero(float x, float epsilon=1e-6f) + { + return x*x < epsilon; + } + + //! A global function to find MAX(a,b) using FCOMI/FCMOV + inline_ float FCMax2(float a, float b) + { + return std::max(a, b); + } + + //! A global function to find MIN(a,b) using FCOMI/FCMOV + inline_ float FCMin2(float a, float b) + { + return std::min(a, b); + } + + //! A global function to find MAX(a,b,c) using FCOMI/FCMOV + inline_ float FCMax3(float a, float b, float c) + { + return std::max(std::max(a, b), c); + } + + //! A global function to find MIN(a,b,c) using FCOMI/FCMOV + inline_ float FCMin3(float a, float b, float c) + { + return std::min(std::min(a, b), c); + } + + inline_ int ConvertToSortable(float f) + { + int& Fi = (int&)f; + int Fmask = (Fi>>31); + Fi ^= Fmask; + Fmask &= ~(1<<31); + Fi -= Fmask; + return Fi; + } + + enum FPUMode + { + FPU_FLOOR = 0, + FPU_CEIL = 1, + FPU_BEST = 2, + + FPU_FORCE_DWORD = 0x7fffffff + }; + + FUNCTION ICECORE_API FPUMode GetFPUMode(); + FUNCTION ICECORE_API void SaveFPU(); + FUNCTION ICECORE_API void RestoreFPU(); + FUNCTION ICECORE_API void SetFPUFloorMode(); + FUNCTION ICECORE_API void SetFPUCeilMode(); + FUNCTION ICECORE_API void SetFPUBestMode(); + + FUNCTION ICECORE_API void SetFPUPrecision24(); + FUNCTION ICECORE_API void SetFPUPrecision53(); + FUNCTION ICECORE_API void SetFPUPrecision64(); + FUNCTION ICECORE_API void SetFPURoundingChop(); + FUNCTION ICECORE_API void SetFPURoundingUp(); + FUNCTION ICECORE_API void SetFPURoundingDown(); + FUNCTION ICECORE_API void SetFPURoundingNear(); + + FUNCTION ICECORE_API int intChop(const float& f); + FUNCTION ICECORE_API int intFloor(const float& f); + FUNCTION ICECORE_API int intCeil(const float& f); + +#endif // __ICEFPU_H__ diff --git a/Opcode/Ice/IceHPoint.cpp b/Opcode/Ice/IceHPoint.cpp index 5282313..daa7038 100644 --- a/Opcode/Ice/IceHPoint.cpp +++ b/Opcode/Ice/IceHPoint.cpp @@ -1,70 +1,70 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for homogeneous points.
- * \file IceHPoint.cpp
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Homogeneous point.
- *
- * Use it:
- * - for clipping in homogeneous space (standard way)
- * - to differentiate between points (w=1) and vectors (w=0).
- * - in some cases you can also use it instead of IcePoint for padding reasons.
- *
- * \class HPoint
- * \author Pierre Terdiman
- * \version 1.0
- * \warning No cross-product in 4D.
- * \warning HPoint *= Matrix3x3 doesn't exist, the matrix is first casted to a 4x4
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// IcePoint Mul = HPoint * Matrix3x3;
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-IcePoint HPoint::operator*(const Matrix3x3& mat) const
-{
- return IcePoint(
- x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0],
- x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1],
- x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] );
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// HPoint Mul = HPoint * Matrix4x4;
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HPoint HPoint::operator*(const Matrix4x4& mat) const
-{
- return HPoint(
- x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0] + w * mat.m[3][0],
- x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1] + w * mat.m[3][1],
- x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] + w * mat.m[3][2],
- x * mat.m[0][3] + y * mat.m[1][3] + z * mat.m[2][3] + w * mat.m[3][3]);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// HPoint *= Matrix4x4
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HPoint& HPoint::operator*=(const Matrix4x4& mat)
-{
- float xp = x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0] + w * mat.m[3][0];
- float yp = x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1] + w * mat.m[3][1];
- float zp = x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] + w * mat.m[3][2];
- float wp = x * mat.m[0][3] + y * mat.m[1][3] + z * mat.m[2][3] + w * mat.m[3][3];
-
- x = xp; y = yp; z = zp; w = wp;
-
- return *this;
-}
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for homogeneous points. + * \file IceHPoint.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Homogeneous point. + * + * Use it: + * - for clipping in homogeneous space (standard way) + * - to differentiate between points (w=1) and vectors (w=0). + * - in some cases you can also use it instead of IcePoint for padding reasons. + * + * \class HPoint + * \author Pierre Terdiman + * \version 1.0 + * \warning No cross-product in 4D. + * \warning HPoint *= Matrix3x3 doesn't exist, the matrix is first casted to a 4x4 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// IcePoint Mul = HPoint * Matrix3x3; +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +IcePoint HPoint::operator*(const Matrix3x3& mat) const +{ + return IcePoint( + x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0], + x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1], + x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] ); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// HPoint Mul = HPoint * Matrix4x4; +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HPoint HPoint::operator*(const Matrix4x4& mat) const +{ + return HPoint( + x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0] + w * mat.m[3][0], + x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1] + w * mat.m[3][1], + x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] + w * mat.m[3][2], + x * mat.m[0][3] + y * mat.m[1][3] + z * mat.m[2][3] + w * mat.m[3][3]); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// HPoint *= Matrix4x4 +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HPoint& HPoint::operator*=(const Matrix4x4& mat) +{ + float xp = x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0] + w * mat.m[3][0]; + float yp = x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1] + w * mat.m[3][1]; + float zp = x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] + w * mat.m[3][2]; + float wp = x * mat.m[0][3] + y * mat.m[1][3] + z * mat.m[2][3] + w * mat.m[3][3]; + + x = xp; y = yp; z = zp; w = wp; + + return *this; +} + diff --git a/Opcode/Ice/IceHPoint.h b/Opcode/Ice/IceHPoint.h index 9251691..f7d0d16 100644 --- a/Opcode/Ice/IceHPoint.h +++ b/Opcode/Ice/IceHPoint.h @@ -1,157 +1,157 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for homogeneous points.
- * \file IceHPoint.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEHPOINT_H__
-#define __ICEHPOINT_H__
-
- class ICEMATHS_API HPoint : public IcePoint
- {
- public:
-
- //! Empty constructor
- inline_ HPoint() {}
- //! Constructor from floats
- inline_ HPoint(float _x, float _y, float _z, float _w=0.0f) : IcePoint(_x, _y, _z), w(_w) {}
- //! Constructor from array
- inline_ HPoint(const float f[4]) : IcePoint(f), w(f[3]) {}
- //! Constructor from a Point
- inline_ HPoint(const IcePoint& p, float _w=0.0f) : IcePoint(p), w(_w) {}
- //! Destructor
- inline_ ~HPoint() {}
-
- //! Clear the point
- inline_ HPoint& Zero() { x = y = z = w = 0.0f; return *this; }
-
- //! Assignment from values
- inline_ HPoint& Set(float _x, float _y, float _z, float _w ) { x = _x; y = _y; z = _z; w = _w; return *this; }
- //! Assignment from array
- inline_ HPoint& Set(const float f[4]) { x = f[_X]; y = f[_Y]; z = f[_Z]; w = f[_W]; return *this; }
- //! Assignment from another h-point
- inline_ HPoint& Set(const HPoint& src) { x = src.x; y = src.y; z = src.z; w = src.w; return *this; }
-
- //! Add a vector
- inline_ HPoint& Add(float _x, float _y, float _z, float _w ) { x += _x; y += _y; z += _z; w += _w; return *this; }
- //! Add a vector
- inline_ HPoint& Add(const float f[4]) { x += f[_X]; y += f[_Y]; z += f[_Z]; w += f[_W]; return *this; }
-
- //! Subtract a vector
- inline_ HPoint& Sub(float _x, float _y, float _z, float _w ) { x -= _x; y -= _y; z -= _z; w -= _w; return *this; }
- //! Subtract a vector
- inline_ HPoint& Sub(const float f[4]) { x -= f[_X]; y -= f[_Y]; z -= f[_Z]; w -= f[_W]; return *this; }
-
- //! Multiplies by a scalar
- inline_ HPoint& Mul(float s) { x *= s; y *= s; z *= s; w *= s; return *this; }
-
- //! Returns MIN(x, y, z, w);
- float Min() const { return MIN(x, MIN(y, MIN(z, w))); }
- //! Returns MAX(x, y, z, w);
- float Max() const { return MAX(x, MAX(y, MAX(z, w))); }
- //! Sets each element to be componentwise minimum
- HPoint& Min(const HPoint& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); w = MIN(w, p.w); return *this; }
- //! Sets each element to be componentwise maximum
- HPoint& Max(const HPoint& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); w = MAX(w, p.w); return *this; }
-
- //! Computes square magnitude
- inline_ float SquareMagnitude() const { return x*x + y*y + z*z + w*w; }
- //! Computes magnitude
- inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z + w*w); }
-
- //! Normalize the vector
- inline_ HPoint& Normalize()
- {
- float M = Magnitude();
- if(M)
- {
- M = 1.0f / M;
- x *= M;
- y *= M;
- z *= M;
- w *= M;
- }
- return *this;
- }
-
- // Arithmetic operators
- //! Operator for HPoint Negate = - HPoint;
- inline_ HPoint operator-() const { return HPoint(-x, -y, -z, -w); }
-
- //! Operator for HPoint Plus = HPoint + HPoint;
- inline_ HPoint operator+(const HPoint& p) const { return HPoint(x + p.x, y + p.y, z + p.z, w + p.w); }
- //! Operator for HPoint Minus = HPoint - HPoint;
- inline_ HPoint operator-(const HPoint& p) const { return HPoint(x - p.x, y - p.y, z - p.z, w - p.w); }
-
- //! Operator for HPoint Mul = HPoint * HPoint;
- inline_ HPoint operator*(const HPoint& p) const { return HPoint(x * p.x, y * p.y, z * p.z, w * p.w); }
- //! Operator for HPoint Scale = HPoint * float;
- inline_ HPoint operator*(float s) const { return HPoint(x * s, y * s, z * s, w * s); }
- //! Operator for HPoint Scale = float * HPoint;
- inline_ friend HPoint operator*(float s, const HPoint& p) { return HPoint(s * p.x, s * p.y, s * p.z, s * p.w); }
-
- //! Operator for HPoint Div = HPoint / HPoint;
- inline_ HPoint operator/(const HPoint& p) const { return HPoint(x / p.x, y / p.y, z / p.z, w / p.w); }
- //! Operator for HPoint Scale = HPoint / float;
- inline_ HPoint operator/(float s) const { s = 1.0f / s; return HPoint(x * s, y * s, z * s, w * s); }
- //! Operator for HPoint Scale = float / HPoint;
- inline_ friend HPoint operator/(float s, const HPoint& p) { return HPoint(s / p.x, s / p.y, s / p.z, s / p.w); }
-
- //! Operator for float DotProd = HPoint | HPoint;
- inline_ float operator|(const HPoint& p) const { return x*p.x + y*p.y + z*p.z + w*p.w; }
- // No cross-product in 4D
-
- //! Operator for HPoint += HPoint;
- inline_ HPoint& operator+=(const HPoint& p) { x += p.x; y += p.y; z += p.z; w += p.w; return *this; }
- //! Operator for HPoint += float;
- inline_ HPoint& operator+=(float s) { x += s; y += s; z += s; w += s; return *this; }
-
- //! Operator for HPoint -= HPoint;
- inline_ HPoint& operator-=(const HPoint& p) { x -= p.x; y -= p.y; z -= p.z; w -= p.w; return *this; }
- //! Operator for HPoint -= float;
- inline_ HPoint& operator-=(float s) { x -= s; y -= s; z -= s; w -= s; return *this; }
-
- //! Operator for HPoint *= HPoint;
- inline_ HPoint& operator*=(const HPoint& p) { x *= p.x; y *= p.y; z *= p.z; w *= p.w; return *this; }
- //! Operator for HPoint *= float;
- inline_ HPoint& operator*=(float s) { x*=s; y*=s; z*=s; w*=s; return *this; }
-
- //! Operator for HPoint /= HPoint;
- inline_ HPoint& operator/=(const HPoint& p) { x /= p.x; y /= p.y; z /= p.z; w /= p.w; return *this; }
- //! Operator for HPoint /= float;
- inline_ HPoint& operator/=(float s) { s = 1.0f / s; x*=s; y*=s; z*=s; w*=s; return *this; }
-
- // Arithmetic operators
-
- //! Operator for Point Mul = HPoint * Matrix3x3;
- IcePoint operator*(const Matrix3x3& mat) const;
- //! Operator for HPoint Mul = HPoint * Matrix4x4;
- HPoint operator*(const Matrix4x4& mat) const;
-
- // HPoint *= Matrix3x3 doesn't exist, the matrix is first casted to a 4x4
- //! Operator for HPoint *= Matrix4x4
- HPoint& operator*=(const Matrix4x4& mat);
-
- // Logical operators
-
- //! Operator for "if(HPoint==HPoint)"
- inline_ bool operator==(const HPoint& p) const { return ( (x==p.x)&&(y==p.y)&&(z==p.z)&&(w==p.w)); }
- //! Operator for "if(HPoint!=HPoint)"
- inline_ bool operator!=(const HPoint& p) const { return ( (x!=p.x)||(y!=p.y)||(z!=p.z)||(w!=p.w)); }
-
- // Cast operators
-
- //! Cast a HPoint to a Point. w is discarded.
- inline_ operator HPoint() const { return IcePoint(x, y, z); }
-
- public:
- float w;
- };
-
-#endif // __ICEHPOINT_H__
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for homogeneous points. + * \file IceHPoint.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEHPOINT_H__ +#define __ICEHPOINT_H__ + + class ICEMATHS_API HPoint : public IcePoint + { + public: + + //! Empty constructor + inline_ HPoint() {} + //! Constructor from floats + inline_ HPoint(float _x, float _y, float _z, float _w=0.0f) : IcePoint(_x, _y, _z), w(_w) {} + //! Constructor from array + inline_ HPoint(const float f[4]) : IcePoint(f), w(f[3]) {} + //! Constructor from a Point + inline_ HPoint(const IcePoint& p, float _w=0.0f) : IcePoint(p), w(_w) {} + //! Destructor + inline_ ~HPoint() {} + + //! Clear the point + inline_ HPoint& Zero() { x = y = z = w = 0.0f; return *this; } + + //! Assignment from values + inline_ HPoint& Set(float _x, float _y, float _z, float _w ) { x = _x; y = _y; z = _z; w = _w; return *this; } + //! Assignment from array + inline_ HPoint& Set(const float f[4]) { x = f[_X]; y = f[_Y]; z = f[_Z]; w = f[_W]; return *this; } + //! Assignment from another h-point + inline_ HPoint& Set(const HPoint& src) { x = src.x; y = src.y; z = src.z; w = src.w; return *this; } + + //! Add a vector + inline_ HPoint& Add(float _x, float _y, float _z, float _w ) { x += _x; y += _y; z += _z; w += _w; return *this; } + //! Add a vector + inline_ HPoint& Add(const float f[4]) { x += f[_X]; y += f[_Y]; z += f[_Z]; w += f[_W]; return *this; } + + //! Subtract a vector + inline_ HPoint& Sub(float _x, float _y, float _z, float _w ) { x -= _x; y -= _y; z -= _z; w -= _w; return *this; } + //! Subtract a vector + inline_ HPoint& Sub(const float f[4]) { x -= f[_X]; y -= f[_Y]; z -= f[_Z]; w -= f[_W]; return *this; } + + //! Multiplies by a scalar + inline_ HPoint& Mul(float s) { x *= s; y *= s; z *= s; w *= s; return *this; } + + //! Returns MIN(x, y, z, w); + float Min() const { return MIN(x, MIN(y, MIN(z, w))); } + //! Returns MAX(x, y, z, w); + float Max() const { return MAX(x, MAX(y, MAX(z, w))); } + //! Sets each element to be componentwise minimum + HPoint& Min(const HPoint& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); w = MIN(w, p.w); return *this; } + //! Sets each element to be componentwise maximum + HPoint& Max(const HPoint& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); w = MAX(w, p.w); return *this; } + + //! Computes square magnitude + inline_ float SquareMagnitude() const { return x*x + y*y + z*z + w*w; } + //! Computes magnitude + inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z + w*w); } + + //! Normalize the vector + inline_ HPoint& Normalize() + { + float M = Magnitude(); + if(M) + { + M = 1.0f / M; + x *= M; + y *= M; + z *= M; + w *= M; + } + return *this; + } + + // Arithmetic operators + //! Operator for HPoint Negate = - HPoint; + inline_ HPoint operator-() const { return HPoint(-x, -y, -z, -w); } + + //! Operator for HPoint Plus = HPoint + HPoint; + inline_ HPoint operator+(const HPoint& p) const { return HPoint(x + p.x, y + p.y, z + p.z, w + p.w); } + //! Operator for HPoint Minus = HPoint - HPoint; + inline_ HPoint operator-(const HPoint& p) const { return HPoint(x - p.x, y - p.y, z - p.z, w - p.w); } + + //! Operator for HPoint Mul = HPoint * HPoint; + inline_ HPoint operator*(const HPoint& p) const { return HPoint(x * p.x, y * p.y, z * p.z, w * p.w); } + //! Operator for HPoint Scale = HPoint * float; + inline_ HPoint operator*(float s) const { return HPoint(x * s, y * s, z * s, w * s); } + //! Operator for HPoint Scale = float * HPoint; + inline_ friend HPoint operator*(float s, const HPoint& p) { return HPoint(s * p.x, s * p.y, s * p.z, s * p.w); } + + //! Operator for HPoint Div = HPoint / HPoint; + inline_ HPoint operator/(const HPoint& p) const { return HPoint(x / p.x, y / p.y, z / p.z, w / p.w); } + //! Operator for HPoint Scale = HPoint / float; + inline_ HPoint operator/(float s) const { s = 1.0f / s; return HPoint(x * s, y * s, z * s, w * s); } + //! Operator for HPoint Scale = float / HPoint; + inline_ friend HPoint operator/(float s, const HPoint& p) { return HPoint(s / p.x, s / p.y, s / p.z, s / p.w); } + + //! Operator for float DotProd = HPoint | HPoint; + inline_ float operator|(const HPoint& p) const { return x*p.x + y*p.y + z*p.z + w*p.w; } + // No cross-product in 4D + + //! Operator for HPoint += HPoint; + inline_ HPoint& operator+=(const HPoint& p) { x += p.x; y += p.y; z += p.z; w += p.w; return *this; } + //! Operator for HPoint += float; + inline_ HPoint& operator+=(float s) { x += s; y += s; z += s; w += s; return *this; } + + //! Operator for HPoint -= HPoint; + inline_ HPoint& operator-=(const HPoint& p) { x -= p.x; y -= p.y; z -= p.z; w -= p.w; return *this; } + //! Operator for HPoint -= float; + inline_ HPoint& operator-=(float s) { x -= s; y -= s; z -= s; w -= s; return *this; } + + //! Operator for HPoint *= HPoint; + inline_ HPoint& operator*=(const HPoint& p) { x *= p.x; y *= p.y; z *= p.z; w *= p.w; return *this; } + //! Operator for HPoint *= float; + inline_ HPoint& operator*=(float s) { x*=s; y*=s; z*=s; w*=s; return *this; } + + //! Operator for HPoint /= HPoint; + inline_ HPoint& operator/=(const HPoint& p) { x /= p.x; y /= p.y; z /= p.z; w /= p.w; return *this; } + //! Operator for HPoint /= float; + inline_ HPoint& operator/=(float s) { s = 1.0f / s; x*=s; y*=s; z*=s; w*=s; return *this; } + + // Arithmetic operators + + //! Operator for Point Mul = HPoint * Matrix3x3; + IcePoint operator*(const Matrix3x3& mat) const; + //! Operator for HPoint Mul = HPoint * Matrix4x4; + HPoint operator*(const Matrix4x4& mat) const; + + // HPoint *= Matrix3x3 doesn't exist, the matrix is first casted to a 4x4 + //! Operator for HPoint *= Matrix4x4 + HPoint& operator*=(const Matrix4x4& mat); + + // Logical operators + + //! Operator for "if(HPoint==HPoint)" + inline_ bool operator==(const HPoint& p) const { return ( (x==p.x)&&(y==p.y)&&(z==p.z)&&(w==p.w)); } + //! Operator for "if(HPoint!=HPoint)" + inline_ bool operator!=(const HPoint& p) const { return ( (x!=p.x)||(y!=p.y)||(z!=p.z)||(w!=p.w)); } + + // Cast operators + + //! Cast a HPoint to a Point. w is discarded. + inline_ operator HPoint() const { return IcePoint(x, y, z); } + + public: + float w; + }; + +#endif // __ICEHPOINT_H__ + diff --git a/Opcode/Ice/IceIndexedTriangle.cpp b/Opcode/Ice/IceIndexedTriangle.cpp index 58687cd..3e74cbb 100644 --- a/Opcode/Ice/IceIndexedTriangle.cpp +++ b/Opcode/Ice/IceIndexedTriangle.cpp @@ -1,548 +1,548 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a handy indexed triangle class.
- * \file IceIndexedTriangle.cpp
- * \author Pierre Terdiman
- * \date January, 17, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains an indexed triangle class.
- *
- * \class Triangle
- * \author Pierre Terdiman
- * \version 1.0
- * \date 08.15.98
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Flips the winding order.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void IndexedTriangle::Flip()
-{
- Swap(mVRef[1], mVRef[2]);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle area.
- * \param verts [in] the list of indexed vertices
- * \return the area
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float IndexedTriangle::Area(const IcePoint* verts) const
-{
- if(!verts) return 0.0f;
- const IcePoint& p0 = verts[0];
- const IcePoint& p1 = verts[1];
- const IcePoint& p2 = verts[2];
- return ((p0-p1)^(p0-p2)).Magnitude() * 0.5f;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle perimeter.
- * \param verts [in] the list of indexed vertices
- * \return the perimeter
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float IndexedTriangle::Perimeter(const IcePoint* verts) const
-{
- if(!verts) return 0.0f;
- const IcePoint& p0 = verts[0];
- const IcePoint& p1 = verts[1];
- const IcePoint& p2 = verts[2];
- return p0.Distance(p1)
- + p0.Distance(p2)
- + p1.Distance(p2);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle compacity.
- * \param verts [in] the list of indexed vertices
- * \return the compacity
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float IndexedTriangle::Compacity(const IcePoint* verts) const
-{
- if(!verts) return 0.0f;
- float P = Perimeter(verts);
- if(P==0.0f) return 0.0f;
- return (4.0f*PI*Area(verts)/(P*P));
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle normal.
- * \param verts [in] the list of indexed vertices
- * \param normal [out] the computed normal
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void IndexedTriangle::Normal(const IcePoint* verts, IcePoint& normal) const
-{
- if(!verts) return;
-
- const IcePoint& p0 = verts[mVRef[0]];
- const IcePoint& p1 = verts[mVRef[1]];
- const IcePoint& p2 = verts[mVRef[2]];
- normal = ((p2-p1)^(p0-p1)).Normalize();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle denormalized normal.
- * \param verts [in] the list of indexed vertices
- * \param normal [out] the computed normal
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void IndexedTriangle::DenormalizedNormal(const IcePoint* verts, IcePoint& normal) const
-{
- if(!verts) return;
-
- const IcePoint& p0 = verts[mVRef[0]];
- const IcePoint& p1 = verts[mVRef[1]];
- const IcePoint& p2 = verts[mVRef[2]];
- normal = ((p2-p1)^(p0-p1));
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle center.
- * \param verts [in] the list of indexed vertices
- * \param center [out] the computed center
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void IndexedTriangle::Center(const IcePoint* verts, IcePoint& center) const
-{
- if(!verts) return;
-
- const IcePoint& p0 = verts[mVRef[0]];
- const IcePoint& p1 = verts[mVRef[1]];
- const IcePoint& p2 = verts[mVRef[2]];
- center = (p0+p1+p2)*INV3;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the centered normal
- * \param verts [in] the list of indexed vertices
- * \param normal [out] the computed centered normal
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void IndexedTriangle::CenteredNormal(const IcePoint* verts, IcePoint& normal) const
-{
- if(!verts) return;
-
- const IcePoint& p0 = verts[mVRef[0]];
- const IcePoint& p1 = verts[mVRef[1]];
- const IcePoint& p2 = verts[mVRef[2]];
- IcePoint Center = (p0+p1+p2)*INV3;
- normal = Center + ((p2-p1)^(p0-p1)).Normalize();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes a random point within the triangle.
- * \param verts [in] the list of indexed vertices
- * \param normal [out] the computed centered normal
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void IndexedTriangle::RandomPoint(const IcePoint* verts, IcePoint& random) const
-{
- if(!verts) return;
-
- // Random barycentric coords
- float Alpha = UnitRandomFloat();
- float Beta = UnitRandomFloat();
- float Gamma = UnitRandomFloat();
- float OneOverTotal = 1.0f / (Alpha + Beta + Gamma);
- Alpha *= OneOverTotal;
- Beta *= OneOverTotal;
- Gamma *= OneOverTotal;
-
- const IcePoint& p0 = verts[mVRef[0]];
- const IcePoint& p1 = verts[mVRef[1]];
- const IcePoint& p2 = verts[mVRef[2]];
- random = Alpha*p0 + Beta*p1 + Gamma*p2;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes backface culling.
- * \param verts [in] the list of indexed vertices
- * \param source [in] source point (in local space) from which culling must be computed
- * \return true if the triangle is visible from the source point
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool IndexedTriangle::IsVisible(const IcePoint* verts, const IcePoint& source) const
-{
- // Checkings
- if(!verts) return false;
-
- const IcePoint& p0 = verts[mVRef[0]];
- const IcePoint& p1 = verts[mVRef[1]];
- const IcePoint& p2 = verts[mVRef[2]];
-
- // Compute denormalized normal
- IcePoint Normal = (p2 - p1)^(p0 - p1);
-
- // Backface culling
- return (Normal | source) >= 0.0f;
-
-// Same as:
-// IcePlane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]);
-// return PL.Distance(source) > PL.d;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes backface culling.
- * \param verts [in] the list of indexed vertices
- * \param source [in] source point (in local space) from which culling must be computed
- * \return true if the triangle is visible from the source point
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool IndexedTriangle::BackfaceCulling(const IcePoint* verts, const IcePoint& source) const
-{
- // Checkings
- if(!verts) return false;
-
- const IcePoint& p0 = verts[mVRef[0]];
- const IcePoint& p1 = verts[mVRef[1]];
- const IcePoint& p2 = verts[mVRef[2]];
-
- // Compute base
-// IcePoint Base = (p0 + p1 + p2)*INV3;
-
- // Compute denormalized normal
- IcePoint Normal = (p2 - p1)^(p0 - p1);
-
- // Backface culling
-// return (Normal | (source - Base)) >= 0.0f;
- return (Normal | (source - p0)) >= 0.0f;
-
-// Same as: (but a bit faster)
-// IcePlane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]);
-// return PL.Distance(source)>0.0f;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the occlusion potential of the triangle.
- * \param verts [in] the list of indexed vertices
- * \param source [in] source point (in local space) from which occlusion potential must be computed
- * \return the occlusion potential
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float IndexedTriangle::ComputeOcclusionPotential(const IcePoint* verts, const IcePoint& view) const
-{
- if(!verts) return 0.0f;
- // Occlusion potential: -(A * (N|V) / d^2)
- // A = polygon area
- // N = polygon normal
- // V = view vector
- // d = distance viewpoint-center of polygon
-
- float A = Area(verts);
- IcePoint N; Normal(verts, N);
- IcePoint C; Center(verts, C);
- float d = view.Distance(C);
- return -(A*(N|view))/(d*d);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Replaces a vertex reference with another one.
- * \param oldref [in] the vertex reference to replace
- * \param newref [in] the new vertex reference
- * \return true if success, else false if the input vertex reference doesn't belong to the triangle
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool IndexedTriangle::ReplaceVertex(udword oldref, udword newref)
-{
- if(mVRef[0]==oldref) { mVRef[0] = newref; return true; }
- else if(mVRef[1]==oldref) { mVRef[1] = newref; return true; }
- else if(mVRef[2]==oldref) { mVRef[2] = newref; return true; }
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks whether the triangle is degenerate or not. A degenerate triangle has two common vertex references. This is a zero-area triangle.
- * \return true if the triangle is degenerate
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool IndexedTriangle::IsDegenerate() const
-{
- if(mVRef[0]==mVRef[1]) return true;
- if(mVRef[1]==mVRef[2]) return true;
- if(mVRef[2]==mVRef[0]) return true;
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks whether the input vertex reference belongs to the triangle or not.
- * \param ref [in] the vertex reference to look for
- * \return true if the triangle contains the vertex reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool IndexedTriangle::HasVertex(udword ref) const
-{
- if(mVRef[0]==ref) return true;
- if(mVRef[1]==ref) return true;
- if(mVRef[2]==ref) return true;
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks whether the input vertex reference belongs to the triangle or not.
- * \param ref [in] the vertex reference to look for
- * \param index [out] the corresponding index in the triangle
- * \return true if the triangle contains the vertex reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool IndexedTriangle::HasVertex(udword ref, udword* index) const
-{
- if(mVRef[0]==ref) { *index = 0; return true; }
- if(mVRef[1]==ref) { *index = 1; return true; }
- if(mVRef[2]==ref) { *index = 2; return true; }
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Finds an edge in a tri, given two vertex references.
- * \param vref0 [in] the edge's first vertex reference
- * \param vref1 [in] the edge's second vertex reference
- * \return the edge number between 0 and 2, or 0xff if input refs are wrong.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-ubyte IndexedTriangle::FindEdge(udword vref0, udword vref1) const
-{
- if(mVRef[0]==vref0 && mVRef[1]==vref1) return 0;
- else if(mVRef[0]==vref1 && mVRef[1]==vref0) return 0;
- else if(mVRef[0]==vref0 && mVRef[2]==vref1) return 1;
- else if(mVRef[0]==vref1 && mVRef[2]==vref0) return 1;
- else if(mVRef[1]==vref0 && mVRef[2]==vref1) return 2;
- else if(mVRef[1]==vref1 && mVRef[2]==vref0) return 2;
- return 0xff;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets the last reference given the first two.
- * \param vref0 [in] the first vertex reference
- * \param vref1 [in] the second vertex reference
- * \return the last reference, or INVALID_ID if input refs are wrong.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword IndexedTriangle::OppositeVertex(udword vref0, udword vref1) const
-{
- if(mVRef[0]==vref0 && mVRef[1]==vref1) return mVRef[2];
- else if(mVRef[0]==vref1 && mVRef[1]==vref0) return mVRef[2];
- else if(mVRef[0]==vref0 && mVRef[2]==vref1) return mVRef[1];
- else if(mVRef[0]==vref1 && mVRef[2]==vref0) return mVRef[1];
- else if(mVRef[1]==vref0 && mVRef[2]==vref1) return mVRef[0];
- else if(mVRef[1]==vref1 && mVRef[2]==vref0) return mVRef[0];
- return INVALID_ID;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets the three sorted vertex references according to an edge number.
- * edgenb = 0 => edge 0-1, returns references 0, 1, 2
- * edgenb = 1 => edge 0-2, returns references 0, 2, 1
- * edgenb = 2 => edge 1-2, returns references 1, 2, 0
- *
- * \param edgenb [in] the edge number, 0, 1 or 2
- * \param vref0 [out] the returned first vertex reference
- * \param vref1 [out] the returned second vertex reference
- * \param vref2 [out] the returned third vertex reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void IndexedTriangle::GetVRefs(ubyte edgenb, udword& vref0, udword& vref1, udword& vref2) const
-{
- if(edgenb==0)
- {
- vref0 = mVRef[0];
- vref1 = mVRef[1];
- vref2 = mVRef[2];
- }
- else if(edgenb==1)
- {
- vref0 = mVRef[0];
- vref1 = mVRef[2];
- vref2 = mVRef[1];
- }
- else if(edgenb==2)
- {
- vref0 = mVRef[1];
- vref1 = mVRef[2];
- vref2 = mVRef[0];
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle's smallest edge length.
- * \param verts [in] the list of indexed vertices
- * \return the smallest edge length
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float IndexedTriangle::MinEdgeLength(const IcePoint* verts) const
-{
- if(!verts) return 0.0f;
-
- float Min = MAX_FLOAT;
- float Length01 = verts[0].Distance(verts[1]);
- float Length02 = verts[0].Distance(verts[2]);
- float Length12 = verts[1].Distance(verts[2]);
- if(Length01 < Min) Min = Length01;
- if(Length02 < Min) Min = Length02;
- if(Length12 < Min) Min = Length12;
- return Min;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle's largest edge length.
- * \param verts [in] the list of indexed vertices
- * \return the largest edge length
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float IndexedTriangle::MaxEdgeLength(const IcePoint* verts) const
-{
- if(!verts) return 0.0f;
-
- float Max = MIN_FLOAT;
- float Length01 = verts[0].Distance(verts[1]);
- float Length02 = verts[0].Distance(verts[2]);
- float Length12 = verts[1].Distance(verts[2]);
- if(Length01 > Max) Max = Length01;
- if(Length02 > Max) Max = Length02;
- if(Length12 > Max) Max = Length12;
- return Max;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes a point on the triangle according to the stabbing information.
- * \param verts [in] the list of indexed vertices
- * \param u,v [in] point's barycentric coordinates
- * \param pt [out] point on triangle
- * \param nearvtx [out] index of nearest vertex
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void IndexedTriangle::ComputePoint(const IcePoint* verts, float u, float v, IcePoint& pt, udword* nearvtx) const
-{
- // Checkings
- if(!verts) return;
-
- // Get face in local or global space
- const IcePoint& p0 = verts[mVRef[0]];
- const IcePoint& p1 = verts[mVRef[1]];
- const IcePoint& p2 = verts[mVRef[2]];
-
- // Compute point coordinates
- pt = (1.0f - u - v)*p0 + u*p1 + v*p2;
-
- // Compute nearest vertex if needed
- if(nearvtx)
- {
- // Compute distance vector
- IcePoint d(p0.SquareDistance(pt), // Distance^2 from vertex 0 to point on the face
- p1.SquareDistance(pt), // Distance^2 from vertex 1 to point on the face
- p2.SquareDistance(pt)); // Distance^2 from vertex 2 to point on the face
-
- // Get smallest distance
- *nearvtx = mVRef[d.SmallestAxis()];
- }
-}
-
- //**************************************
- // Angle between two vectors (in radians)
- // we use this formula
- // uv = |u||v| cos(u,v)
- // u ^ v = w
- // |w| = |u||v| |sin(u,v)|
- //**************************************
- float Angle(const IcePoint& u, const IcePoint& v)
- {
- float NormU = u.Magnitude(); // |u|
- float NormV = v.Magnitude(); // |v|
- float Product = NormU*NormV; // |u||v|
- if(Product==0.0f) return 0.0f;
- float OneOverProduct = 1.0f / Product;
-
- // Cosinus
- float Cosinus = (u|v) * OneOverProduct;
-
- // Sinus
- IcePoint w = u^v;
- float NormW = w.Magnitude();
-
- float AbsSinus = NormW * OneOverProduct;
-
- // Remove degeneracy
- if(AbsSinus > 1.0f) AbsSinus = 1.0f;
- if(AbsSinus < -1.0f) AbsSinus = -1.0f;
-
- if(Cosinus>=0.0f) return asinf(AbsSinus);
- else return (PI-asinf(AbsSinus));
- }
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the angle between two triangles.
- * \param tri [in] the other triangle
- * \param verts [in] the list of indexed vertices
- * \return the angle in radians
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float IndexedTriangle::Angle(const IndexedTriangle& tri, const IcePoint* verts) const
-{
- // Checkings
- if(!verts) return 0.0f;
-
- // Compute face normals
- IcePoint n0, n1;
- Normal(verts, n0);
- tri.Normal(verts, n1);
-
- // Compute angle
- float dp = n0|n1;
- if(dp>1.0f) return 0.0f;
- if(dp<-1.0f) return PI;
- return acosf(dp);
-
-// return ::Angle(n0,n1);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks a triangle is the same as another one.
- * \param tri [in] the other triangle
- * \return true if same triangle
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool IndexedTriangle::Equal(const IndexedTriangle& tri) const
-{
- // Test all vertex references
- return (HasVertex(tri.mVRef[0]) &&
- HasVertex(tri.mVRef[1]) &&
- HasVertex(tri.mVRef[2]));
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a handy indexed triangle class. + * \file IceIndexedTriangle.cpp + * \author Pierre Terdiman + * \date January, 17, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains an indexed triangle class. + * + * \class Triangle + * \author Pierre Terdiman + * \version 1.0 + * \date 08.15.98 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Flips the winding order. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::Flip() +{ + Swap(mVRef[1], mVRef[2]); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle area. + * \param verts [in] the list of indexed vertices + * \return the area + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::Area(const IcePoint* verts) const +{ + if(!verts) return 0.0f; + const IcePoint& p0 = verts[0]; + const IcePoint& p1 = verts[1]; + const IcePoint& p2 = verts[2]; + return ((p0-p1)^(p0-p2)).Magnitude() * 0.5f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle perimeter. + * \param verts [in] the list of indexed vertices + * \return the perimeter + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::Perimeter(const IcePoint* verts) const +{ + if(!verts) return 0.0f; + const IcePoint& p0 = verts[0]; + const IcePoint& p1 = verts[1]; + const IcePoint& p2 = verts[2]; + return p0.Distance(p1) + + p0.Distance(p2) + + p1.Distance(p2); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle compacity. + * \param verts [in] the list of indexed vertices + * \return the compacity + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::Compacity(const IcePoint* verts) const +{ + if(!verts) return 0.0f; + float P = Perimeter(verts); + if(P==0.0f) return 0.0f; + return (4.0f*PI*Area(verts)/(P*P)); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle normal. + * \param verts [in] the list of indexed vertices + * \param normal [out] the computed normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::Normal(const IcePoint* verts, IcePoint& normal) const +{ + if(!verts) return; + + const IcePoint& p0 = verts[mVRef[0]]; + const IcePoint& p1 = verts[mVRef[1]]; + const IcePoint& p2 = verts[mVRef[2]]; + normal = ((p2-p1)^(p0-p1)).Normalize(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle denormalized normal. + * \param verts [in] the list of indexed vertices + * \param normal [out] the computed normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::DenormalizedNormal(const IcePoint* verts, IcePoint& normal) const +{ + if(!verts) return; + + const IcePoint& p0 = verts[mVRef[0]]; + const IcePoint& p1 = verts[mVRef[1]]; + const IcePoint& p2 = verts[mVRef[2]]; + normal = ((p2-p1)^(p0-p1)); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle center. + * \param verts [in] the list of indexed vertices + * \param center [out] the computed center + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::Center(const IcePoint* verts, IcePoint& center) const +{ + if(!verts) return; + + const IcePoint& p0 = verts[mVRef[0]]; + const IcePoint& p1 = verts[mVRef[1]]; + const IcePoint& p2 = verts[mVRef[2]]; + center = (p0+p1+p2)*INV3; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the centered normal + * \param verts [in] the list of indexed vertices + * \param normal [out] the computed centered normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::CenteredNormal(const IcePoint* verts, IcePoint& normal) const +{ + if(!verts) return; + + const IcePoint& p0 = verts[mVRef[0]]; + const IcePoint& p1 = verts[mVRef[1]]; + const IcePoint& p2 = verts[mVRef[2]]; + IcePoint Center = (p0+p1+p2)*INV3; + normal = Center + ((p2-p1)^(p0-p1)).Normalize(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a random point within the triangle. + * \param verts [in] the list of indexed vertices + * \param normal [out] the computed centered normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::RandomPoint(const IcePoint* verts, IcePoint& random) const +{ + if(!verts) return; + + // Random barycentric coords + float Alpha = UnitRandomFloat(); + float Beta = UnitRandomFloat(); + float Gamma = UnitRandomFloat(); + float OneOverTotal = 1.0f / (Alpha + Beta + Gamma); + Alpha *= OneOverTotal; + Beta *= OneOverTotal; + Gamma *= OneOverTotal; + + const IcePoint& p0 = verts[mVRef[0]]; + const IcePoint& p1 = verts[mVRef[1]]; + const IcePoint& p2 = verts[mVRef[2]]; + random = Alpha*p0 + Beta*p1 + Gamma*p2; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes backface culling. + * \param verts [in] the list of indexed vertices + * \param source [in] source point (in local space) from which culling must be computed + * \return true if the triangle is visible from the source point + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::IsVisible(const IcePoint* verts, const IcePoint& source) const +{ + // Checkings + if(!verts) return false; + + const IcePoint& p0 = verts[mVRef[0]]; + const IcePoint& p1 = verts[mVRef[1]]; + const IcePoint& p2 = verts[mVRef[2]]; + + // Compute denormalized normal + IcePoint Normal = (p2 - p1)^(p0 - p1); + + // Backface culling + return (Normal | source) >= 0.0f; + +// Same as: +// IcePlane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); +// return PL.Distance(source) > PL.d; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes backface culling. + * \param verts [in] the list of indexed vertices + * \param source [in] source point (in local space) from which culling must be computed + * \return true if the triangle is visible from the source point + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::BackfaceCulling(const IcePoint* verts, const IcePoint& source) const +{ + // Checkings + if(!verts) return false; + + const IcePoint& p0 = verts[mVRef[0]]; + const IcePoint& p1 = verts[mVRef[1]]; + const IcePoint& p2 = verts[mVRef[2]]; + + // Compute base +// IcePoint Base = (p0 + p1 + p2)*INV3; + + // Compute denormalized normal + IcePoint Normal = (p2 - p1)^(p0 - p1); + + // Backface culling +// return (Normal | (source - Base)) >= 0.0f; + return (Normal | (source - p0)) >= 0.0f; + +// Same as: (but a bit faster) +// IcePlane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); +// return PL.Distance(source)>0.0f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the occlusion potential of the triangle. + * \param verts [in] the list of indexed vertices + * \param source [in] source point (in local space) from which occlusion potential must be computed + * \return the occlusion potential + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::ComputeOcclusionPotential(const IcePoint* verts, const IcePoint& view) const +{ + if(!verts) return 0.0f; + // Occlusion potential: -(A * (N|V) / d^2) + // A = polygon area + // N = polygon normal + // V = view vector + // d = distance viewpoint-center of polygon + + float A = Area(verts); + IcePoint N; Normal(verts, N); + IcePoint C; Center(verts, C); + float d = view.Distance(C); + return -(A*(N|view))/(d*d); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Replaces a vertex reference with another one. + * \param oldref [in] the vertex reference to replace + * \param newref [in] the new vertex reference + * \return true if success, else false if the input vertex reference doesn't belong to the triangle + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::ReplaceVertex(udword oldref, udword newref) +{ + if(mVRef[0]==oldref) { mVRef[0] = newref; return true; } + else if(mVRef[1]==oldref) { mVRef[1] = newref; return true; } + else if(mVRef[2]==oldref) { mVRef[2] = newref; return true; } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks whether the triangle is degenerate or not. A degenerate triangle has two common vertex references. This is a zero-area triangle. + * \return true if the triangle is degenerate + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::IsDegenerate() const +{ + if(mVRef[0]==mVRef[1]) return true; + if(mVRef[1]==mVRef[2]) return true; + if(mVRef[2]==mVRef[0]) return true; + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks whether the input vertex reference belongs to the triangle or not. + * \param ref [in] the vertex reference to look for + * \return true if the triangle contains the vertex reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::HasVertex(udword ref) const +{ + if(mVRef[0]==ref) return true; + if(mVRef[1]==ref) return true; + if(mVRef[2]==ref) return true; + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks whether the input vertex reference belongs to the triangle or not. + * \param ref [in] the vertex reference to look for + * \param index [out] the corresponding index in the triangle + * \return true if the triangle contains the vertex reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::HasVertex(udword ref, udword* index) const +{ + if(mVRef[0]==ref) { *index = 0; return true; } + if(mVRef[1]==ref) { *index = 1; return true; } + if(mVRef[2]==ref) { *index = 2; return true; } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Finds an edge in a tri, given two vertex references. + * \param vref0 [in] the edge's first vertex reference + * \param vref1 [in] the edge's second vertex reference + * \return the edge number between 0 and 2, or 0xff if input refs are wrong. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +ubyte IndexedTriangle::FindEdge(udword vref0, udword vref1) const +{ + if(mVRef[0]==vref0 && mVRef[1]==vref1) return 0; + else if(mVRef[0]==vref1 && mVRef[1]==vref0) return 0; + else if(mVRef[0]==vref0 && mVRef[2]==vref1) return 1; + else if(mVRef[0]==vref1 && mVRef[2]==vref0) return 1; + else if(mVRef[1]==vref0 && mVRef[2]==vref1) return 2; + else if(mVRef[1]==vref1 && mVRef[2]==vref0) return 2; + return 0xff; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the last reference given the first two. + * \param vref0 [in] the first vertex reference + * \param vref1 [in] the second vertex reference + * \return the last reference, or INVALID_ID if input refs are wrong. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword IndexedTriangle::OppositeVertex(udword vref0, udword vref1) const +{ + if(mVRef[0]==vref0 && mVRef[1]==vref1) return mVRef[2]; + else if(mVRef[0]==vref1 && mVRef[1]==vref0) return mVRef[2]; + else if(mVRef[0]==vref0 && mVRef[2]==vref1) return mVRef[1]; + else if(mVRef[0]==vref1 && mVRef[2]==vref0) return mVRef[1]; + else if(mVRef[1]==vref0 && mVRef[2]==vref1) return mVRef[0]; + else if(mVRef[1]==vref1 && mVRef[2]==vref0) return mVRef[0]; + return INVALID_ID; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the three sorted vertex references according to an edge number. + * edgenb = 0 => edge 0-1, returns references 0, 1, 2 + * edgenb = 1 => edge 0-2, returns references 0, 2, 1 + * edgenb = 2 => edge 1-2, returns references 1, 2, 0 + * + * \param edgenb [in] the edge number, 0, 1 or 2 + * \param vref0 [out] the returned first vertex reference + * \param vref1 [out] the returned second vertex reference + * \param vref2 [out] the returned third vertex reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::GetVRefs(ubyte edgenb, udword& vref0, udword& vref1, udword& vref2) const +{ + if(edgenb==0) + { + vref0 = mVRef[0]; + vref1 = mVRef[1]; + vref2 = mVRef[2]; + } + else if(edgenb==1) + { + vref0 = mVRef[0]; + vref1 = mVRef[2]; + vref2 = mVRef[1]; + } + else if(edgenb==2) + { + vref0 = mVRef[1]; + vref1 = mVRef[2]; + vref2 = mVRef[0]; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle's smallest edge length. + * \param verts [in] the list of indexed vertices + * \return the smallest edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::MinEdgeLength(const IcePoint* verts) const +{ + if(!verts) return 0.0f; + + float Min = MAX_FLOAT; + float Length01 = verts[0].Distance(verts[1]); + float Length02 = verts[0].Distance(verts[2]); + float Length12 = verts[1].Distance(verts[2]); + if(Length01 < Min) Min = Length01; + if(Length02 < Min) Min = Length02; + if(Length12 < Min) Min = Length12; + return Min; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle's largest edge length. + * \param verts [in] the list of indexed vertices + * \return the largest edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::MaxEdgeLength(const IcePoint* verts) const +{ + if(!verts) return 0.0f; + + float Max = MIN_FLOAT; + float Length01 = verts[0].Distance(verts[1]); + float Length02 = verts[0].Distance(verts[2]); + float Length12 = verts[1].Distance(verts[2]); + if(Length01 > Max) Max = Length01; + if(Length02 > Max) Max = Length02; + if(Length12 > Max) Max = Length12; + return Max; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a point on the triangle according to the stabbing information. + * \param verts [in] the list of indexed vertices + * \param u,v [in] point's barycentric coordinates + * \param pt [out] point on triangle + * \param nearvtx [out] index of nearest vertex + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::ComputePoint(const IcePoint* verts, float u, float v, IcePoint& pt, udword* nearvtx) const +{ + // Checkings + if(!verts) return; + + // Get face in local or global space + const IcePoint& p0 = verts[mVRef[0]]; + const IcePoint& p1 = verts[mVRef[1]]; + const IcePoint& p2 = verts[mVRef[2]]; + + // Compute point coordinates + pt = (1.0f - u - v)*p0 + u*p1 + v*p2; + + // Compute nearest vertex if needed + if(nearvtx) + { + // Compute distance vector + IcePoint d(p0.SquareDistance(pt), // Distance^2 from vertex 0 to point on the face + p1.SquareDistance(pt), // Distance^2 from vertex 1 to point on the face + p2.SquareDistance(pt)); // Distance^2 from vertex 2 to point on the face + + // Get smallest distance + *nearvtx = mVRef[d.SmallestAxis()]; + } +} + + //************************************** + // Angle between two vectors (in radians) + // we use this formula + // uv = |u||v| cos(u,v) + // u ^ v = w + // |w| = |u||v| |sin(u,v)| + //************************************** + float Angle(const IcePoint& u, const IcePoint& v) + { + float NormU = u.Magnitude(); // |u| + float NormV = v.Magnitude(); // |v| + float Product = NormU*NormV; // |u||v| + if(Product==0.0f) return 0.0f; + float OneOverProduct = 1.0f / Product; + + // Cosinus + float Cosinus = (u|v) * OneOverProduct; + + // Sinus + IcePoint w = u^v; + float NormW = w.Magnitude(); + + float AbsSinus = NormW * OneOverProduct; + + // Remove degeneracy + if(AbsSinus > 1.0f) AbsSinus = 1.0f; + if(AbsSinus < -1.0f) AbsSinus = -1.0f; + + if(Cosinus>=0.0f) return asinf(AbsSinus); + else return (PI-asinf(AbsSinus)); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the angle between two triangles. + * \param tri [in] the other triangle + * \param verts [in] the list of indexed vertices + * \return the angle in radians + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::Angle(const IndexedTriangle& tri, const IcePoint* verts) const +{ + // Checkings + if(!verts) return 0.0f; + + // Compute face normals + IcePoint n0, n1; + Normal(verts, n0); + tri.Normal(verts, n1); + + // Compute angle + float dp = n0|n1; + if(dp>1.0f) return 0.0f; + if(dp<-1.0f) return PI; + return acosf(dp); + +// return ::Angle(n0,n1); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks a triangle is the same as another one. + * \param tri [in] the other triangle + * \return true if same triangle + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::Equal(const IndexedTriangle& tri) const +{ + // Test all vertex references + return (HasVertex(tri.mVRef[0]) && + HasVertex(tri.mVRef[1]) && + HasVertex(tri.mVRef[2])); +} diff --git a/Opcode/Ice/IceIndexedTriangle.h b/Opcode/Ice/IceIndexedTriangle.h index 842eea2..ef279c2 100644 --- a/Opcode/Ice/IceIndexedTriangle.h +++ b/Opcode/Ice/IceIndexedTriangle.h @@ -1,64 +1,64 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a handy indexed triangle class.
- * \file IceIndexedTriangle.h
- * \author Pierre Terdiman
- * \date January, 17, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEINDEXEDTRIANGLE_H__
-#define __ICEINDEXEDTRIANGLE_H__
-
- // An indexed triangle class.
- class ICEMATHS_API IndexedTriangle
- {
- public:
- //! Constructor
- inline_ IndexedTriangle() {}
- //! Constructor
- inline_ IndexedTriangle(udword r0, udword r1, udword r2) { mVRef[0]=r0; mVRef[1]=r1; mVRef[2]=r2; }
- //! Copy constructor
- inline_ IndexedTriangle(const IndexedTriangle& triangle)
- {
- mVRef[0] = triangle.mVRef[0];
- mVRef[1] = triangle.mVRef[1];
- mVRef[2] = triangle.mVRef[2];
- }
- //! Destructor
- inline_ ~IndexedTriangle() {}
- //! Vertex-references
- udword mVRef[3];
-
- // Methods
- void Flip();
- float Area(const IcePoint* verts) const;
- float Perimeter(const IcePoint* verts) const;
- float Compacity(const IcePoint* verts) const;
- void Normal(const IcePoint* verts, IcePoint& normal) const;
- void DenormalizedNormal(const IcePoint* verts, IcePoint& normal) const;
- void Center(const IcePoint* verts, IcePoint& center) const;
- void CenteredNormal(const IcePoint* verts, IcePoint& normal) const;
- void RandomPoint(const IcePoint* verts, IcePoint& random) const;
- bool IsVisible(const IcePoint* verts, const IcePoint& source) const;
- bool BackfaceCulling(const IcePoint* verts, const IcePoint& source) const;
- float ComputeOcclusionPotential(const IcePoint* verts, const IcePoint& view) const;
- bool ReplaceVertex(udword oldref, udword newref);
- bool IsDegenerate() const;
- bool HasVertex(udword ref) const;
- bool HasVertex(udword ref, udword* index) const;
- ubyte FindEdge(udword vref0, udword vref1) const;
- udword OppositeVertex(udword vref0, udword vref1) const;
- inline_ udword OppositeVertex(ubyte edgenb) const { return mVRef[2-edgenb]; }
- void GetVRefs(ubyte edgenb, udword& vref0, udword& vref1, udword& vref2) const;
- float MinEdgeLength(const IcePoint* verts) const;
- float MaxEdgeLength(const IcePoint* verts) const;
- void ComputePoint(const IcePoint* verts, float u, float v, IcePoint& pt, udword* nearvtx=null) const;
- float Angle(const IndexedTriangle& tri, const IcePoint* verts) const;
- inline_ IcePlane PlaneEquation(const IcePoint* verts) const { return IcePlane(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); }
- bool Equal(const IndexedTriangle& tri) const;
- };
-
-#endif // __ICEINDEXEDTRIANGLE_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a handy indexed triangle class. + * \file IceIndexedTriangle.h + * \author Pierre Terdiman + * \date January, 17, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEINDEXEDTRIANGLE_H__ +#define __ICEINDEXEDTRIANGLE_H__ + + // An indexed triangle class. + class ICEMATHS_API IndexedTriangle + { + public: + //! Constructor + inline_ IndexedTriangle() {} + //! Constructor + inline_ IndexedTriangle(udword r0, udword r1, udword r2) { mVRef[0]=r0; mVRef[1]=r1; mVRef[2]=r2; } + //! Copy constructor + inline_ IndexedTriangle(const IndexedTriangle& triangle) + { + mVRef[0] = triangle.mVRef[0]; + mVRef[1] = triangle.mVRef[1]; + mVRef[2] = triangle.mVRef[2]; + } + //! Destructor + inline_ ~IndexedTriangle() {} + //! Vertex-references + udword mVRef[3]; + + // Methods + void Flip(); + float Area(const IcePoint* verts) const; + float Perimeter(const IcePoint* verts) const; + float Compacity(const IcePoint* verts) const; + void Normal(const IcePoint* verts, IcePoint& normal) const; + void DenormalizedNormal(const IcePoint* verts, IcePoint& normal) const; + void Center(const IcePoint* verts, IcePoint& center) const; + void CenteredNormal(const IcePoint* verts, IcePoint& normal) const; + void RandomPoint(const IcePoint* verts, IcePoint& random) const; + bool IsVisible(const IcePoint* verts, const IcePoint& source) const; + bool BackfaceCulling(const IcePoint* verts, const IcePoint& source) const; + float ComputeOcclusionPotential(const IcePoint* verts, const IcePoint& view) const; + bool ReplaceVertex(udword oldref, udword newref); + bool IsDegenerate() const; + bool HasVertex(udword ref) const; + bool HasVertex(udword ref, udword* index) const; + ubyte FindEdge(udword vref0, udword vref1) const; + udword OppositeVertex(udword vref0, udword vref1) const; + inline_ udword OppositeVertex(ubyte edgenb) const { return mVRef[2-edgenb]; } + void GetVRefs(ubyte edgenb, udword& vref0, udword& vref1, udword& vref2) const; + float MinEdgeLength(const IcePoint* verts) const; + float MaxEdgeLength(const IcePoint* verts) const; + void ComputePoint(const IcePoint* verts, float u, float v, IcePoint& pt, udword* nearvtx=null) const; + float Angle(const IndexedTriangle& tri, const IcePoint* verts) const; + inline_ IcePlane PlaneEquation(const IcePoint* verts) const { return IcePlane(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); } + bool Equal(const IndexedTriangle& tri) const; + }; + +#endif // __ICEINDEXEDTRIANGLE_H__ diff --git a/Opcode/Ice/IceLSS.h b/Opcode/Ice/IceLSS.h index 8a26823..e4c9ef8 100644 --- a/Opcode/Ice/IceLSS.h +++ b/Opcode/Ice/IceLSS.h @@ -1,75 +1,75 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for line-swept spheres.
- * \file IceLSS.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICELSS_H__
-#define __ICELSS_H__
-
- class ICEMATHS_API LSS : public IceSegment
- {
- public:
- //! Constructor
- inline_ LSS() {}
- //! Constructor
- inline_ LSS(const IceSegment& seg, float radius) : IceSegment(seg), mRadius(radius) {}
- //! Destructor
- inline_ ~LSS() {}
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes an OBB surrounding the LSS.
- * \param box [out] the OBB
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void ComputeOBB(OBB& box);
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Tests if a IcePoint is contained within the LSS.
- * \param pt [in] the IcePoint to test
- * \return true if inside the LSS
- * \warning IcePoint and LSS must be in same space
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ bool Contains(const IcePoint& pt) const { return SquareDistance(pt) <= mRadius*mRadius; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Tests if a sphere is contained within the LSS.
- * \param sphere [in] the sphere to test
- * \return true if inside the LSS
- * \warning sphere and LSS must be in same space
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ bool Contains(const Sphere& sphere)
- {
- float d = mRadius - sphere.mRadius;
- if(d>=0.0f) return SquareDistance(sphere.mCenter) <= d*d;
- else return false;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Tests if an LSS is contained within the LSS.
- * \param lss [in] the LSS to test
- * \return true if inside the LSS
- * \warning both LSS must be in same space
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ bool Contains(const LSS& lss)
- {
- // We check the LSS contains the two spheres at the start and end of the sweep
- return Contains(Sphere(lss.mP0, lss.mRadius)) && Contains(Sphere(lss.mP0, lss.mRadius));
- }
-
- float mRadius; //!< Sphere radius
- };
-
-#endif // __ICELSS_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for line-swept spheres. + * \file IceLSS.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICELSS_H__ +#define __ICELSS_H__ + + class ICEMATHS_API LSS : public IceSegment + { + public: + //! Constructor + inline_ LSS() {} + //! Constructor + inline_ LSS(const IceSegment& seg, float radius) : IceSegment(seg), mRadius(radius) {} + //! Destructor + inline_ ~LSS() {} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes an OBB surrounding the LSS. + * \param box [out] the OBB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void ComputeOBB(OBB& box); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a IcePoint is contained within the LSS. + * \param pt [in] the IcePoint to test + * \return true if inside the LSS + * \warning IcePoint and LSS must be in same space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const IcePoint& pt) const { return SquareDistance(pt) <= mRadius*mRadius; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a sphere is contained within the LSS. + * \param sphere [in] the sphere to test + * \return true if inside the LSS + * \warning sphere and LSS must be in same space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const Sphere& sphere) + { + float d = mRadius - sphere.mRadius; + if(d>=0.0f) return SquareDistance(sphere.mCenter) <= d*d; + else return false; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if an LSS is contained within the LSS. + * \param lss [in] the LSS to test + * \return true if inside the LSS + * \warning both LSS must be in same space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const LSS& lss) + { + // We check the LSS contains the two spheres at the start and end of the sweep + return Contains(Sphere(lss.mP0, lss.mRadius)) && Contains(Sphere(lss.mP0, lss.mRadius)); + } + + float mRadius; //!< Sphere radius + }; + +#endif // __ICELSS_H__ diff --git a/Opcode/Ice/IceMatrix3x3.cpp b/Opcode/Ice/IceMatrix3x3.cpp index 1682a7b..c856366 100644 --- a/Opcode/Ice/IceMatrix3x3.cpp +++ b/Opcode/Ice/IceMatrix3x3.cpp @@ -1,48 +1,48 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for 3x3 matrices.
- * \file IceMatrix3x3.cpp
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * 3x3 matrix.
- * DirectX-compliant, ie row-column order, ie m[Row][Col].
- * Same as:
- * m11 m12 m13 first row.
- * m21 m22 m23 second row.
- * m31 m32 m33 third row.
- * Stored in memory as m11 m12 m13 m21...
- *
- * Multiplication rules:
- *
- * [x'y'z'] = [xyz][M]
- *
- * x' = x*m11 + y*m21 + z*m31
- * y' = x*m12 + y*m22 + z*m32
- * z' = x*m13 + y*m23 + z*m33
- *
- * \class Matrix3x3
- * \author Pierre Terdiman
- * \version 1.0
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-// Cast operator
-Matrix3x3::operator Matrix4x4() const
-{
- return Matrix4x4(
- m[0][0], m[0][1], m[0][2], 0.0f,
- m[1][0], m[1][1], m[1][2], 0.0f,
- m[2][0], m[2][1], m[2][2], 0.0f,
- 0.0f, 0.0f, 0.0f, 1.0f);
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 3x3 matrices. + * \file IceMatrix3x3.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 3x3 matrix. + * DirectX-compliant, ie row-column order, ie m[Row][Col]. + * Same as: + * m11 m12 m13 first row. + * m21 m22 m23 second row. + * m31 m32 m33 third row. + * Stored in memory as m11 m12 m13 m21... + * + * Multiplication rules: + * + * [x'y'z'] = [xyz][M] + * + * x' = x*m11 + y*m21 + z*m31 + * y' = x*m12 + y*m22 + z*m32 + * z' = x*m13 + y*m23 + z*m33 + * + * \class Matrix3x3 + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +// Cast operator +Matrix3x3::operator Matrix4x4() const +{ + return Matrix4x4( + m[0][0], m[0][1], m[0][2], 0.0f, + m[1][0], m[1][1], m[1][2], 0.0f, + m[2][0], m[2][1], m[2][2], 0.0f, + 0.0f, 0.0f, 0.0f, 1.0f); +} diff --git a/Opcode/Ice/IceMatrix3x3.h b/Opcode/Ice/IceMatrix3x3.h index 5b8f141..3356103 100644 --- a/Opcode/Ice/IceMatrix3x3.h +++ b/Opcode/Ice/IceMatrix3x3.h @@ -1,496 +1,496 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for 3x3 matrices.
- * \file IceMatrix3x3.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEMATRIX3X3_H__
-#define __ICEMATRIX3X3_H__
-
- // Forward declarations
- class Quat;
-
- #define MATRIX3X3_EPSILON (1.0e-7f)
-
- class ICEMATHS_API Matrix3x3
- {
- public:
- //! Empty constructor
- inline_ Matrix3x3() {}
- //! Constructor from 9 values
- inline_ Matrix3x3(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
- {
- m[0][0] = m00; m[0][1] = m01; m[0][2] = m02;
- m[1][0] = m10; m[1][1] = m11; m[1][2] = m12;
- m[2][0] = m20; m[2][1] = m21; m[2][2] = m22;
- }
- //! Copy constructor
- inline_ Matrix3x3(const Matrix3x3& mat) { CopyMemory(m, &mat.m, 9*sizeof(float)); }
- //! Destructor
- inline_ ~Matrix3x3() {}
-
- //! Assign values
- inline_ void Set(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
- {
- m[0][0] = m00; m[0][1] = m01; m[0][2] = m02;
- m[1][0] = m10; m[1][1] = m11; m[1][2] = m12;
- m[2][0] = m20; m[2][1] = m21; m[2][2] = m22;
- }
-
- //! Sets the scale from a Point. The point is put on the diagonal.
- inline_ void SetScale(const IcePoint& p) { m[0][0] = p.x; m[1][1] = p.y; m[2][2] = p.z; }
-
- //! Sets the scale from floats. Values are put on the diagonal.
- inline_ void SetScale(float sx, float sy, float sz) { m[0][0] = sx; m[1][1] = sy; m[2][2] = sz; }
-
- //! Scales from a Point. Each row is multiplied by a component.
- inline_ void Scale(const IcePoint& p)
- {
- m[0][0] *= p.x; m[0][1] *= p.x; m[0][2] *= p.x;
- m[1][0] *= p.y; m[1][1] *= p.y; m[1][2] *= p.y;
- m[2][0] *= p.z; m[2][1] *= p.z; m[2][2] *= p.z;
- }
-
- //! Scales from floats. Each row is multiplied by a value.
- inline_ void Scale(float sx, float sy, float sz)
- {
- m[0][0] *= sx; m[0][1] *= sx; m[0][2] *= sx;
- m[1][0] *= sy; m[1][1] *= sy; m[1][2] *= sy;
- m[2][0] *= sz; m[2][1] *= sz; m[2][2] *= sz;
- }
-
- //! Copy from a Matrix3x3
- inline_ void Copy(const Matrix3x3& source) { CopyMemory(m, source.m, 9*sizeof(float)); }
-
- // Row-column access
- //! Returns a row.
- inline_ void GetRow(const udword r, IcePoint& p) const { p.x = m[r][0]; p.y = m[r][1]; p.z = m[r][2]; }
- //! Returns a row.
- inline_ const IcePoint& GetRow(const udword r) const { return *(const IcePoint*)&m[r][0]; }
- //! Returns a row.
- inline_ IcePoint& GetRow(const udword r) { return *(IcePoint*)&m[r][0]; }
- //! Sets a row.
- inline_ void SetRow(const udword r, const IcePoint& p) { m[r][0] = p.x; m[r][1] = p.y; m[r][2] = p.z; }
- //! Returns a column.
- inline_ void GetCol(const udword c, IcePoint& p) const { p.x = m[0][c]; p.y = m[1][c]; p.z = m[2][c]; }
- //! Sets a column.
- inline_ void SetCol(const udword c, const IcePoint& p) { m[0][c] = p.x; m[1][c] = p.y; m[2][c] = p.z; }
-
- //! Computes the trace. The trace is the sum of the 3 diagonal components.
- inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2]; }
- //! Clears the matrix.
- inline_ void Zero() { ZeroMemory(&m, sizeof(m)); }
- //! Sets the identity matrix.
- inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = 1.0f; }
- //! Checks for identity
- inline_ bool IsIdentity() const
- {
- if(IR(m[0][0])!=IEEE_1_0) return false;
- if(IR(m[0][1])!=0) return false;
- if(IR(m[0][2])!=0) return false;
-
- if(IR(m[1][0])!=0) return false;
- if(IR(m[1][1])!=IEEE_1_0) return false;
- if(IR(m[1][2])!=0) return false;
-
- if(IR(m[2][0])!=0) return false;
- if(IR(m[2][1])!=0) return false;
- if(IR(m[2][2])!=IEEE_1_0) return false;
-
- return true;
- }
-
- //! Checks matrix validity
- inline_ BOOL IsValid() const
- {
- for(udword j=0;j<3;j++)
- {
- for(udword i=0;i<3;i++)
- {
- if(!IsValidFloat(m[j][i])) return FALSE;
- }
- }
- return TRUE;
- }
-
- //! Makes a skew-symmetric matrix (a.k.a. Star(*) Matrix)
- //! [ 0.0 -a.z a.y ]
- //! [ a.z 0.0 -a.x ]
- //! [ -a.y a.x 0.0 ]
- //! This is also called a "cross matrix" since for any vectors A and B,
- //! A^B = Skew(A) * B = - B * Skew(A);
- inline_ void SkewSymmetric(const IcePoint& a)
- {
- m[0][0] = 0.0f;
- m[0][1] = -a.z;
- m[0][2] = a.y;
-
- m[1][0] = a.z;
- m[1][1] = 0.0f;
- m[1][2] = -a.x;
-
- m[2][0] = -a.y;
- m[2][1] = a.x;
- m[2][2] = 0.0f;
- }
-
- //! Negates the matrix
- inline_ void Neg()
- {
- m[0][0] = -m[0][0]; m[0][1] = -m[0][1]; m[0][2] = -m[0][2];
- m[1][0] = -m[1][0]; m[1][1] = -m[1][1]; m[1][2] = -m[1][2];
- m[2][0] = -m[2][0]; m[2][1] = -m[2][1]; m[2][2] = -m[2][2];
- }
-
- //! Neg from another matrix
- inline_ void Neg(const Matrix3x3& mat)
- {
- m[0][0] = -mat.m[0][0]; m[0][1] = -mat.m[0][1]; m[0][2] = -mat.m[0][2];
- m[1][0] = -mat.m[1][0]; m[1][1] = -mat.m[1][1]; m[1][2] = -mat.m[1][2];
- m[2][0] = -mat.m[2][0]; m[2][1] = -mat.m[2][1]; m[2][2] = -mat.m[2][2];
- }
-
- //! Add another matrix
- inline_ void Add(const Matrix3x3& mat)
- {
- m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2];
- m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2];
- m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2];
- }
-
- //! Sub another matrix
- inline_ void Sub(const Matrix3x3& mat)
- {
- m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2];
- m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2];
- m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2];
- }
- //! Mac
- inline_ void Mac(const Matrix3x3& a, const Matrix3x3& b, float s)
- {
- m[0][0] = a.m[0][0] + b.m[0][0] * s;
- m[0][1] = a.m[0][1] + b.m[0][1] * s;
- m[0][2] = a.m[0][2] + b.m[0][2] * s;
-
- m[1][0] = a.m[1][0] + b.m[1][0] * s;
- m[1][1] = a.m[1][1] + b.m[1][1] * s;
- m[1][2] = a.m[1][2] + b.m[1][2] * s;
-
- m[2][0] = a.m[2][0] + b.m[2][0] * s;
- m[2][1] = a.m[2][1] + b.m[2][1] * s;
- m[2][2] = a.m[2][2] + b.m[2][2] * s;
- }
- //! Mac
- inline_ void Mac(const Matrix3x3& a, float s)
- {
- m[0][0] += a.m[0][0] * s; m[0][1] += a.m[0][1] * s; m[0][2] += a.m[0][2] * s;
- m[1][0] += a.m[1][0] * s; m[1][1] += a.m[1][1] * s; m[1][2] += a.m[1][2] * s;
- m[2][0] += a.m[2][0] * s; m[2][1] += a.m[2][1] * s; m[2][2] += a.m[2][2] * s;
- }
-
- //! this = A * s
- inline_ void Mult(const Matrix3x3& a, float s)
- {
- m[0][0] = a.m[0][0] * s; m[0][1] = a.m[0][1] * s; m[0][2] = a.m[0][2] * s;
- m[1][0] = a.m[1][0] * s; m[1][1] = a.m[1][1] * s; m[1][2] = a.m[1][2] * s;
- m[2][0] = a.m[2][0] * s; m[2][1] = a.m[2][1] * s; m[2][2] = a.m[2][2] * s;
- }
-
- inline_ void Add(const Matrix3x3& a, const Matrix3x3& b)
- {
- m[0][0] = a.m[0][0] + b.m[0][0]; m[0][1] = a.m[0][1] + b.m[0][1]; m[0][2] = a.m[0][2] + b.m[0][2];
- m[1][0] = a.m[1][0] + b.m[1][0]; m[1][1] = a.m[1][1] + b.m[1][1]; m[1][2] = a.m[1][2] + b.m[1][2];
- m[2][0] = a.m[2][0] + b.m[2][0]; m[2][1] = a.m[2][1] + b.m[2][1]; m[2][2] = a.m[2][2] + b.m[2][2];
- }
-
- inline_ void Sub(const Matrix3x3& a, const Matrix3x3& b)
- {
- m[0][0] = a.m[0][0] - b.m[0][0]; m[0][1] = a.m[0][1] - b.m[0][1]; m[0][2] = a.m[0][2] - b.m[0][2];
- m[1][0] = a.m[1][0] - b.m[1][0]; m[1][1] = a.m[1][1] - b.m[1][1]; m[1][2] = a.m[1][2] - b.m[1][2];
- m[2][0] = a.m[2][0] - b.m[2][0]; m[2][1] = a.m[2][1] - b.m[2][1]; m[2][2] = a.m[2][2] - b.m[2][2];
- }
-
- //! this = a * b
- inline_ void Mult(const Matrix3x3& a, const Matrix3x3& b)
- {
- m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[1][0] + a.m[0][2] * b.m[2][0];
- m[0][1] = a.m[0][0] * b.m[0][1] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[2][1];
- m[0][2] = a.m[0][0] * b.m[0][2] + a.m[0][1] * b.m[1][2] + a.m[0][2] * b.m[2][2];
- m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[1][2] * b.m[2][0];
- m[1][1] = a.m[1][0] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[2][1];
- m[1][2] = a.m[1][0] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[1][2] * b.m[2][2];
- m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[1][0] + a.m[2][2] * b.m[2][0];
- m[2][1] = a.m[2][0] * b.m[0][1] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[2][1];
- m[2][2] = a.m[2][0] * b.m[0][2] + a.m[2][1] * b.m[1][2] + a.m[2][2] * b.m[2][2];
- }
-
- //! this = transpose(a) * b
- inline_ void MultAtB(const Matrix3x3& a, const Matrix3x3& b)
- {
- m[0][0] = a.m[0][0] * b.m[0][0] + a.m[1][0] * b.m[1][0] + a.m[2][0] * b.m[2][0];
- m[0][1] = a.m[0][0] * b.m[0][1] + a.m[1][0] * b.m[1][1] + a.m[2][0] * b.m[2][1];
- m[0][2] = a.m[0][0] * b.m[0][2] + a.m[1][0] * b.m[1][2] + a.m[2][0] * b.m[2][2];
- m[1][0] = a.m[0][1] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[2][1] * b.m[2][0];
- m[1][1] = a.m[0][1] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[2][1] * b.m[2][1];
- m[1][2] = a.m[0][1] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[2][1] * b.m[2][2];
- m[2][0] = a.m[0][2] * b.m[0][0] + a.m[1][2] * b.m[1][0] + a.m[2][2] * b.m[2][0];
- m[2][1] = a.m[0][2] * b.m[0][1] + a.m[1][2] * b.m[1][1] + a.m[2][2] * b.m[2][1];
- m[2][2] = a.m[0][2] * b.m[0][2] + a.m[1][2] * b.m[1][2] + a.m[2][2] * b.m[2][2];
- }
-
- //! this = a * transpose(b)
- inline_ void MultABt(const Matrix3x3& a, const Matrix3x3& b)
- {
- m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[0][1] + a.m[0][2] * b.m[0][2];
- m[0][1] = a.m[0][0] * b.m[1][0] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[1][2];
- m[0][2] = a.m[0][0] * b.m[2][0] + a.m[0][1] * b.m[2][1] + a.m[0][2] * b.m[2][2];
- m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[0][1] + a.m[1][2] * b.m[0][2];
- m[1][1] = a.m[1][0] * b.m[1][0] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[1][2];
- m[1][2] = a.m[1][0] * b.m[2][0] + a.m[1][1] * b.m[2][1] + a.m[1][2] * b.m[2][2];
- m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[0][1] + a.m[2][2] * b.m[0][2];
- m[2][1] = a.m[2][0] * b.m[1][0] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[1][2];
- m[2][2] = a.m[2][0] * b.m[2][0] + a.m[2][1] * b.m[2][1] + a.m[2][2] * b.m[2][2];
- }
-
- //! Makes a rotation matrix mapping vector "from" to vector "to".
- Matrix3x3& FromTo(const IcePoint& from, const IcePoint& to);
-
- //! Set a rotation matrix around the X axis.
- //! 1 0 0
- //! RX = 0 cx sx
- //! 0 -sx cx
- void RotX(float angle);
- //! Set a rotation matrix around the Y axis.
- //! cy 0 -sy
- //! RY = 0 1 0
- //! sy 0 cy
- void RotY(float angle);
- //! Set a rotation matrix around the Z axis.
- //! cz sz 0
- //! RZ = -sz cz 0
- //! 0 0 1
- void RotZ(float angle);
- //! cy sx.sy -sy.cx
- //! RY.RX 0 cx sx
- //! sy -sx.cy cx.cy
- void RotYX(float y, float x);
-
- //! Make a rotation matrix about an arbitrary axis
- Matrix3x3& Rot(float angle, const IcePoint& axis);
-
- //! Transpose the matrix.
- void Transpose()
- {
- IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]);
- IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]);
- IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]);
- }
-
- //! this = Transpose(a)
- void Transpose(const Matrix3x3& a)
- {
- m[0][0] = a.m[0][0]; m[0][1] = a.m[1][0]; m[0][2] = a.m[2][0];
- m[1][0] = a.m[0][1]; m[1][1] = a.m[1][1]; m[1][2] = a.m[2][1];
- m[2][0] = a.m[0][2]; m[2][1] = a.m[1][2]; m[2][2] = a.m[2][2];
- }
-
- //! Compute the determinant of the matrix. We use the rule of Sarrus.
- float Determinant() const
- {
- return (m[0][0]*m[1][1]*m[2][2] + m[0][1]*m[1][2]*m[2][0] + m[0][2]*m[1][0]*m[2][1])
- - (m[2][0]*m[1][1]*m[0][2] + m[2][1]*m[1][2]*m[0][0] + m[2][2]*m[1][0]*m[0][1]);
- }
-/*
- //! Compute a cofactor. Used for matrix inversion.
- float CoFactor(ubyte row, ubyte column) const
- {
- static sdword gIndex[3+2] = { 0, 1, 2, 0, 1 };
- return (m[gIndex[row+1]][gIndex[column+1]]*m[gIndex[row+2]][gIndex[column+2]] - m[gIndex[row+2]][gIndex[column+1]]*m[gIndex[row+1]][gIndex[column+2]]);
- }
-*/
- //! Invert the matrix. Determinant must be different from zero, else matrix can't be inverted.
- Matrix3x3& Invert()
- {
- float Det = Determinant(); // Must be !=0
- float OneOverDet = 1.0f / Det;
-
- Matrix3x3 Temp;
- Temp.m[0][0] = +(m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDet;
- Temp.m[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDet;
- Temp.m[2][0] = +(m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDet;
- Temp.m[0][1] = -(m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDet;
- Temp.m[1][1] = +(m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDet;
- Temp.m[2][1] = -(m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDet;
- Temp.m[0][2] = +(m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDet;
- Temp.m[1][2] = -(m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDet;
- Temp.m[2][2] = +(m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDet;
-
- *this = Temp;
-
- return *this;
- }
-
- Matrix3x3& Normalize();
-
- //! this = exp(a)
- Matrix3x3& Exp(const Matrix3x3& a);
-
-void FromQuat(const Quat &q);
-void FromQuatL2(const Quat &q, float l2);
-
- // Arithmetic operators
- //! Operator for Matrix3x3 Plus = Matrix3x3 + Matrix3x3;
- inline_ Matrix3x3 operator+(const Matrix3x3& mat) const
- {
- return Matrix3x3(
- m[0][0] + mat.m[0][0], m[0][1] + mat.m[0][1], m[0][2] + mat.m[0][2],
- m[1][0] + mat.m[1][0], m[1][1] + mat.m[1][1], m[1][2] + mat.m[1][2],
- m[2][0] + mat.m[2][0], m[2][1] + mat.m[2][1], m[2][2] + mat.m[2][2]);
- }
-
- //! Operator for Matrix3x3 Minus = Matrix3x3 - Matrix3x3;
- inline_ Matrix3x3 operator-(const Matrix3x3& mat) const
- {
- return Matrix3x3(
- m[0][0] - mat.m[0][0], m[0][1] - mat.m[0][1], m[0][2] - mat.m[0][2],
- m[1][0] - mat.m[1][0], m[1][1] - mat.m[1][1], m[1][2] - mat.m[1][2],
- m[2][0] - mat.m[2][0], m[2][1] - mat.m[2][1], m[2][2] - mat.m[2][2]);
- }
-
- //! Operator for Matrix3x3 Mul = Matrix3x3 * Matrix3x3;
- inline_ Matrix3x3 operator*(const Matrix3x3& mat) const
- {
- return Matrix3x3(
- m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0],
- m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1],
- m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2],
-
- m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0],
- m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1],
- m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2],
-
- m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0],
- m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1],
- m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2]);
- }
-
- //! Operator for Point Mul = Matrix3x3 * Point;
- inline_ IcePoint operator*(const IcePoint& v) const { return IcePoint(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v); }
-
- //! Operator for Matrix3x3 Mul = Matrix3x3 * float;
- inline_ Matrix3x3 operator*(float s) const
- {
- return Matrix3x3(
- m[0][0]*s, m[0][1]*s, m[0][2]*s,
- m[1][0]*s, m[1][1]*s, m[1][2]*s,
- m[2][0]*s, m[2][1]*s, m[2][2]*s);
- }
-
- //! Operator for Matrix3x3 Mul = float * Matrix3x3;
- inline_ friend Matrix3x3 operator*(float s, const Matrix3x3& mat)
- {
- return Matrix3x3(
- s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2],
- s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2],
- s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2]);
- }
-
- //! Operator for Matrix3x3 Div = Matrix3x3 / float;
- inline_ Matrix3x3 operator/(float s) const
- {
- if (s) s = 1.0f / s;
- return Matrix3x3(
- m[0][0]*s, m[0][1]*s, m[0][2]*s,
- m[1][0]*s, m[1][1]*s, m[1][2]*s,
- m[2][0]*s, m[2][1]*s, m[2][2]*s);
- }
-
- //! Operator for Matrix3x3 Div = float / Matrix3x3;
- inline_ friend Matrix3x3 operator/(float s, const Matrix3x3& mat)
- {
- return Matrix3x3(
- s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2],
- s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2],
- s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2]);
- }
-
- //! Operator for Matrix3x3 += Matrix3x3
- inline_ Matrix3x3& operator+=(const Matrix3x3& mat)
- {
- m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2];
- m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2];
- m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2];
- return *this;
- }
-
- //! Operator for Matrix3x3 -= Matrix3x3
- inline_ Matrix3x3& operator-=(const Matrix3x3& mat)
- {
- m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2];
- m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2];
- m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2];
- return *this;
- }
-
- //! Operator for Matrix3x3 *= Matrix3x3
- inline_ Matrix3x3& operator*=(const Matrix3x3& mat)
- {
- IcePoint TempRow;
-
- GetRow(0, TempRow);
- m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0];
- m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1];
- m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2];
-
- GetRow(1, TempRow);
- m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0];
- m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1];
- m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2];
-
- GetRow(2, TempRow);
- m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0];
- m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1];
- m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2];
- return *this;
- }
-
- //! Operator for Matrix3x3 *= float
- inline_ Matrix3x3& operator*=(float s)
- {
- m[0][0] *= s; m[0][1] *= s; m[0][2] *= s;
- m[1][0] *= s; m[1][1] *= s; m[1][2] *= s;
- m[2][0] *= s; m[2][1] *= s; m[2][2] *= s;
- return *this;
- }
-
- //! Operator for Matrix3x3 /= float
- inline_ Matrix3x3& operator/=(float s)
- {
- if (s) s = 1.0f / s;
- m[0][0] *= s; m[0][1] *= s; m[0][2] *= s;
- m[1][0] *= s; m[1][1] *= s; m[1][2] *= s;
- m[2][0] *= s; m[2][1] *= s; m[2][2] *= s;
- return *this;
- }
-
- // Cast operators
- //! Cast a Matrix3x3 to a Matrix4x4.
- operator Matrix4x4() const;
- //! Cast a Matrix3x3 to a Quat.
- operator Quat() const;
-
- inline_ const IcePoint& operator[](int row) const { return *(const IcePoint*)&m[row][0]; }
- inline_ IcePoint& operator[](int row) { return *(IcePoint*)&m[row][0]; }
-
- public:
-
- float m[3][3];
- };
-
-#endif // __ICEMATRIX3X3_H__
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 3x3 matrices. + * \file IceMatrix3x3.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEMATRIX3X3_H__ +#define __ICEMATRIX3X3_H__ + + // Forward declarations + class Quat; + + #define MATRIX3X3_EPSILON (1.0e-7f) + + class ICEMATHS_API Matrix3x3 + { + public: + //! Empty constructor + inline_ Matrix3x3() {} + //! Constructor from 9 values + inline_ Matrix3x3(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22) + { + m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; + m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; + m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; + } + //! Copy constructor + inline_ Matrix3x3(const Matrix3x3& mat) { CopyMemory(m, &mat.m, 9*sizeof(float)); } + //! Destructor + inline_ ~Matrix3x3() {} + + //! Assign values + inline_ void Set(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22) + { + m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; + m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; + m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; + } + + //! Sets the scale from a Point. The point is put on the diagonal. + inline_ void SetScale(const IcePoint& p) { m[0][0] = p.x; m[1][1] = p.y; m[2][2] = p.z; } + + //! Sets the scale from floats. Values are put on the diagonal. + inline_ void SetScale(float sx, float sy, float sz) { m[0][0] = sx; m[1][1] = sy; m[2][2] = sz; } + + //! Scales from a Point. Each row is multiplied by a component. + inline_ void Scale(const IcePoint& p) + { + m[0][0] *= p.x; m[0][1] *= p.x; m[0][2] *= p.x; + m[1][0] *= p.y; m[1][1] *= p.y; m[1][2] *= p.y; + m[2][0] *= p.z; m[2][1] *= p.z; m[2][2] *= p.z; + } + + //! Scales from floats. Each row is multiplied by a value. + inline_ void Scale(float sx, float sy, float sz) + { + m[0][0] *= sx; m[0][1] *= sx; m[0][2] *= sx; + m[1][0] *= sy; m[1][1] *= sy; m[1][2] *= sy; + m[2][0] *= sz; m[2][1] *= sz; m[2][2] *= sz; + } + + //! Copy from a Matrix3x3 + inline_ void Copy(const Matrix3x3& source) { CopyMemory(m, source.m, 9*sizeof(float)); } + + // Row-column access + //! Returns a row. + inline_ void GetRow(const udword r, IcePoint& p) const { p.x = m[r][0]; p.y = m[r][1]; p.z = m[r][2]; } + //! Returns a row. + inline_ const IcePoint& GetRow(const udword r) const { return *(const IcePoint*)&m[r][0]; } + //! Returns a row. + inline_ IcePoint& GetRow(const udword r) { return *(IcePoint*)&m[r][0]; } + //! Sets a row. + inline_ void SetRow(const udword r, const IcePoint& p) { m[r][0] = p.x; m[r][1] = p.y; m[r][2] = p.z; } + //! Returns a column. + inline_ void GetCol(const udword c, IcePoint& p) const { p.x = m[0][c]; p.y = m[1][c]; p.z = m[2][c]; } + //! Sets a column. + inline_ void SetCol(const udword c, const IcePoint& p) { m[0][c] = p.x; m[1][c] = p.y; m[2][c] = p.z; } + + //! Computes the trace. The trace is the sum of the 3 diagonal components. + inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2]; } + //! Clears the matrix. + inline_ void Zero() { ZeroMemory(&m, sizeof(m)); } + //! Sets the identity matrix. + inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = 1.0f; } + //! Checks for identity + inline_ bool IsIdentity() const + { + if(IR(m[0][0])!=IEEE_1_0) return false; + if(IR(m[0][1])!=0) return false; + if(IR(m[0][2])!=0) return false; + + if(IR(m[1][0])!=0) return false; + if(IR(m[1][1])!=IEEE_1_0) return false; + if(IR(m[1][2])!=0) return false; + + if(IR(m[2][0])!=0) return false; + if(IR(m[2][1])!=0) return false; + if(IR(m[2][2])!=IEEE_1_0) return false; + + return true; + } + + //! Checks matrix validity + inline_ BOOL IsValid() const + { + for(udword j=0;j<3;j++) + { + for(udword i=0;i<3;i++) + { + if(!IsValidFloat(m[j][i])) return FALSE; + } + } + return TRUE; + } + + //! Makes a skew-symmetric matrix (a.k.a. Star(*) Matrix) + //! [ 0.0 -a.z a.y ] + //! [ a.z 0.0 -a.x ] + //! [ -a.y a.x 0.0 ] + //! This is also called a "cross matrix" since for any vectors A and B, + //! A^B = Skew(A) * B = - B * Skew(A); + inline_ void SkewSymmetric(const IcePoint& a) + { + m[0][0] = 0.0f; + m[0][1] = -a.z; + m[0][2] = a.y; + + m[1][0] = a.z; + m[1][1] = 0.0f; + m[1][2] = -a.x; + + m[2][0] = -a.y; + m[2][1] = a.x; + m[2][2] = 0.0f; + } + + //! Negates the matrix + inline_ void Neg() + { + m[0][0] = -m[0][0]; m[0][1] = -m[0][1]; m[0][2] = -m[0][2]; + m[1][0] = -m[1][0]; m[1][1] = -m[1][1]; m[1][2] = -m[1][2]; + m[2][0] = -m[2][0]; m[2][1] = -m[2][1]; m[2][2] = -m[2][2]; + } + + //! Neg from another matrix + inline_ void Neg(const Matrix3x3& mat) + { + m[0][0] = -mat.m[0][0]; m[0][1] = -mat.m[0][1]; m[0][2] = -mat.m[0][2]; + m[1][0] = -mat.m[1][0]; m[1][1] = -mat.m[1][1]; m[1][2] = -mat.m[1][2]; + m[2][0] = -mat.m[2][0]; m[2][1] = -mat.m[2][1]; m[2][2] = -mat.m[2][2]; + } + + //! Add another matrix + inline_ void Add(const Matrix3x3& mat) + { + m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2]; + m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2]; + m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2]; + } + + //! Sub another matrix + inline_ void Sub(const Matrix3x3& mat) + { + m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2]; + m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2]; + m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2]; + } + //! Mac + inline_ void Mac(const Matrix3x3& a, const Matrix3x3& b, float s) + { + m[0][0] = a.m[0][0] + b.m[0][0] * s; + m[0][1] = a.m[0][1] + b.m[0][1] * s; + m[0][2] = a.m[0][2] + b.m[0][2] * s; + + m[1][0] = a.m[1][0] + b.m[1][0] * s; + m[1][1] = a.m[1][1] + b.m[1][1] * s; + m[1][2] = a.m[1][2] + b.m[1][2] * s; + + m[2][0] = a.m[2][0] + b.m[2][0] * s; + m[2][1] = a.m[2][1] + b.m[2][1] * s; + m[2][2] = a.m[2][2] + b.m[2][2] * s; + } + //! Mac + inline_ void Mac(const Matrix3x3& a, float s) + { + m[0][0] += a.m[0][0] * s; m[0][1] += a.m[0][1] * s; m[0][2] += a.m[0][2] * s; + m[1][0] += a.m[1][0] * s; m[1][1] += a.m[1][1] * s; m[1][2] += a.m[1][2] * s; + m[2][0] += a.m[2][0] * s; m[2][1] += a.m[2][1] * s; m[2][2] += a.m[2][2] * s; + } + + //! this = A * s + inline_ void Mult(const Matrix3x3& a, float s) + { + m[0][0] = a.m[0][0] * s; m[0][1] = a.m[0][1] * s; m[0][2] = a.m[0][2] * s; + m[1][0] = a.m[1][0] * s; m[1][1] = a.m[1][1] * s; m[1][2] = a.m[1][2] * s; + m[2][0] = a.m[2][0] * s; m[2][1] = a.m[2][1] * s; m[2][2] = a.m[2][2] * s; + } + + inline_ void Add(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] + b.m[0][0]; m[0][1] = a.m[0][1] + b.m[0][1]; m[0][2] = a.m[0][2] + b.m[0][2]; + m[1][0] = a.m[1][0] + b.m[1][0]; m[1][1] = a.m[1][1] + b.m[1][1]; m[1][2] = a.m[1][2] + b.m[1][2]; + m[2][0] = a.m[2][0] + b.m[2][0]; m[2][1] = a.m[2][1] + b.m[2][1]; m[2][2] = a.m[2][2] + b.m[2][2]; + } + + inline_ void Sub(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] - b.m[0][0]; m[0][1] = a.m[0][1] - b.m[0][1]; m[0][2] = a.m[0][2] - b.m[0][2]; + m[1][0] = a.m[1][0] - b.m[1][0]; m[1][1] = a.m[1][1] - b.m[1][1]; m[1][2] = a.m[1][2] - b.m[1][2]; + m[2][0] = a.m[2][0] - b.m[2][0]; m[2][1] = a.m[2][1] - b.m[2][1]; m[2][2] = a.m[2][2] - b.m[2][2]; + } + + //! this = a * b + inline_ void Mult(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[1][0] + a.m[0][2] * b.m[2][0]; + m[0][1] = a.m[0][0] * b.m[0][1] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[2][1]; + m[0][2] = a.m[0][0] * b.m[0][2] + a.m[0][1] * b.m[1][2] + a.m[0][2] * b.m[2][2]; + m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[1][2] * b.m[2][0]; + m[1][1] = a.m[1][0] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[2][1]; + m[1][2] = a.m[1][0] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[1][2] * b.m[2][2]; + m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[1][0] + a.m[2][2] * b.m[2][0]; + m[2][1] = a.m[2][0] * b.m[0][1] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[2][1]; + m[2][2] = a.m[2][0] * b.m[0][2] + a.m[2][1] * b.m[1][2] + a.m[2][2] * b.m[2][2]; + } + + //! this = transpose(a) * b + inline_ void MultAtB(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] * b.m[0][0] + a.m[1][0] * b.m[1][0] + a.m[2][0] * b.m[2][0]; + m[0][1] = a.m[0][0] * b.m[0][1] + a.m[1][0] * b.m[1][1] + a.m[2][0] * b.m[2][1]; + m[0][2] = a.m[0][0] * b.m[0][2] + a.m[1][0] * b.m[1][2] + a.m[2][0] * b.m[2][2]; + m[1][0] = a.m[0][1] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[2][1] * b.m[2][0]; + m[1][1] = a.m[0][1] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[2][1] * b.m[2][1]; + m[1][2] = a.m[0][1] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[2][1] * b.m[2][2]; + m[2][0] = a.m[0][2] * b.m[0][0] + a.m[1][2] * b.m[1][0] + a.m[2][2] * b.m[2][0]; + m[2][1] = a.m[0][2] * b.m[0][1] + a.m[1][2] * b.m[1][1] + a.m[2][2] * b.m[2][1]; + m[2][2] = a.m[0][2] * b.m[0][2] + a.m[1][2] * b.m[1][2] + a.m[2][2] * b.m[2][2]; + } + + //! this = a * transpose(b) + inline_ void MultABt(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[0][1] + a.m[0][2] * b.m[0][2]; + m[0][1] = a.m[0][0] * b.m[1][0] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[1][2]; + m[0][2] = a.m[0][0] * b.m[2][0] + a.m[0][1] * b.m[2][1] + a.m[0][2] * b.m[2][2]; + m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[0][1] + a.m[1][2] * b.m[0][2]; + m[1][1] = a.m[1][0] * b.m[1][0] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[1][2]; + m[1][2] = a.m[1][0] * b.m[2][0] + a.m[1][1] * b.m[2][1] + a.m[1][2] * b.m[2][2]; + m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[0][1] + a.m[2][2] * b.m[0][2]; + m[2][1] = a.m[2][0] * b.m[1][0] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[1][2]; + m[2][2] = a.m[2][0] * b.m[2][0] + a.m[2][1] * b.m[2][1] + a.m[2][2] * b.m[2][2]; + } + + //! Makes a rotation matrix mapping vector "from" to vector "to". + Matrix3x3& FromTo(const IcePoint& from, const IcePoint& to); + + //! Set a rotation matrix around the X axis. + //! 1 0 0 + //! RX = 0 cx sx + //! 0 -sx cx + void RotX(float angle); + //! Set a rotation matrix around the Y axis. + //! cy 0 -sy + //! RY = 0 1 0 + //! sy 0 cy + void RotY(float angle); + //! Set a rotation matrix around the Z axis. + //! cz sz 0 + //! RZ = -sz cz 0 + //! 0 0 1 + void RotZ(float angle); + //! cy sx.sy -sy.cx + //! RY.RX 0 cx sx + //! sy -sx.cy cx.cy + void RotYX(float y, float x); + + //! Make a rotation matrix about an arbitrary axis + Matrix3x3& Rot(float angle, const IcePoint& axis); + + //! Transpose the matrix. + void Transpose() + { + IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]); + IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]); + IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]); + } + + //! this = Transpose(a) + void Transpose(const Matrix3x3& a) + { + m[0][0] = a.m[0][0]; m[0][1] = a.m[1][0]; m[0][2] = a.m[2][0]; + m[1][0] = a.m[0][1]; m[1][1] = a.m[1][1]; m[1][2] = a.m[2][1]; + m[2][0] = a.m[0][2]; m[2][1] = a.m[1][2]; m[2][2] = a.m[2][2]; + } + + //! Compute the determinant of the matrix. We use the rule of Sarrus. + float Determinant() const + { + return (m[0][0]*m[1][1]*m[2][2] + m[0][1]*m[1][2]*m[2][0] + m[0][2]*m[1][0]*m[2][1]) + - (m[2][0]*m[1][1]*m[0][2] + m[2][1]*m[1][2]*m[0][0] + m[2][2]*m[1][0]*m[0][1]); + } +/* + //! Compute a cofactor. Used for matrix inversion. + float CoFactor(ubyte row, ubyte column) const + { + static sdword gIndex[3+2] = { 0, 1, 2, 0, 1 }; + return (m[gIndex[row+1]][gIndex[column+1]]*m[gIndex[row+2]][gIndex[column+2]] - m[gIndex[row+2]][gIndex[column+1]]*m[gIndex[row+1]][gIndex[column+2]]); + } +*/ + //! Invert the matrix. Determinant must be different from zero, else matrix can't be inverted. + Matrix3x3& Invert() + { + float Det = Determinant(); // Must be !=0 + float OneOverDet = 1.0f / Det; + + Matrix3x3 Temp; + Temp.m[0][0] = +(m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDet; + Temp.m[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDet; + Temp.m[2][0] = +(m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDet; + Temp.m[0][1] = -(m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDet; + Temp.m[1][1] = +(m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDet; + Temp.m[2][1] = -(m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDet; + Temp.m[0][2] = +(m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDet; + Temp.m[1][2] = -(m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDet; + Temp.m[2][2] = +(m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDet; + + *this = Temp; + + return *this; + } + + Matrix3x3& Normalize(); + + //! this = exp(a) + Matrix3x3& Exp(const Matrix3x3& a); + +void FromQuat(const Quat &q); +void FromQuatL2(const Quat &q, float l2); + + // Arithmetic operators + //! Operator for Matrix3x3 Plus = Matrix3x3 + Matrix3x3; + inline_ Matrix3x3 operator+(const Matrix3x3& mat) const + { + return Matrix3x3( + m[0][0] + mat.m[0][0], m[0][1] + mat.m[0][1], m[0][2] + mat.m[0][2], + m[1][0] + mat.m[1][0], m[1][1] + mat.m[1][1], m[1][2] + mat.m[1][2], + m[2][0] + mat.m[2][0], m[2][1] + mat.m[2][1], m[2][2] + mat.m[2][2]); + } + + //! Operator for Matrix3x3 Minus = Matrix3x3 - Matrix3x3; + inline_ Matrix3x3 operator-(const Matrix3x3& mat) const + { + return Matrix3x3( + m[0][0] - mat.m[0][0], m[0][1] - mat.m[0][1], m[0][2] - mat.m[0][2], + m[1][0] - mat.m[1][0], m[1][1] - mat.m[1][1], m[1][2] - mat.m[1][2], + m[2][0] - mat.m[2][0], m[2][1] - mat.m[2][1], m[2][2] - mat.m[2][2]); + } + + //! Operator for Matrix3x3 Mul = Matrix3x3 * Matrix3x3; + inline_ Matrix3x3 operator*(const Matrix3x3& mat) const + { + return Matrix3x3( + m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0], + m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1], + m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2], + + m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0], + m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1], + m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2], + + m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0], + m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1], + m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2]); + } + + //! Operator for Point Mul = Matrix3x3 * Point; + inline_ IcePoint operator*(const IcePoint& v) const { return IcePoint(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v); } + + //! Operator for Matrix3x3 Mul = Matrix3x3 * float; + inline_ Matrix3x3 operator*(float s) const + { + return Matrix3x3( + m[0][0]*s, m[0][1]*s, m[0][2]*s, + m[1][0]*s, m[1][1]*s, m[1][2]*s, + m[2][0]*s, m[2][1]*s, m[2][2]*s); + } + + //! Operator for Matrix3x3 Mul = float * Matrix3x3; + inline_ friend Matrix3x3 operator*(float s, const Matrix3x3& mat) + { + return Matrix3x3( + s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], + s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], + s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2]); + } + + //! Operator for Matrix3x3 Div = Matrix3x3 / float; + inline_ Matrix3x3 operator/(float s) const + { + if (s) s = 1.0f / s; + return Matrix3x3( + m[0][0]*s, m[0][1]*s, m[0][2]*s, + m[1][0]*s, m[1][1]*s, m[1][2]*s, + m[2][0]*s, m[2][1]*s, m[2][2]*s); + } + + //! Operator for Matrix3x3 Div = float / Matrix3x3; + inline_ friend Matrix3x3 operator/(float s, const Matrix3x3& mat) + { + return Matrix3x3( + s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], + s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], + s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2]); + } + + //! Operator for Matrix3x3 += Matrix3x3 + inline_ Matrix3x3& operator+=(const Matrix3x3& mat) + { + m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2]; + m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2]; + m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2]; + return *this; + } + + //! Operator for Matrix3x3 -= Matrix3x3 + inline_ Matrix3x3& operator-=(const Matrix3x3& mat) + { + m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2]; + m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2]; + m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2]; + return *this; + } + + //! Operator for Matrix3x3 *= Matrix3x3 + inline_ Matrix3x3& operator*=(const Matrix3x3& mat) + { + IcePoint TempRow; + + GetRow(0, TempRow); + m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0]; + m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1]; + m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2]; + + GetRow(1, TempRow); + m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0]; + m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1]; + m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2]; + + GetRow(2, TempRow); + m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0]; + m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1]; + m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2]; + return *this; + } + + //! Operator for Matrix3x3 *= float + inline_ Matrix3x3& operator*=(float s) + { + m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; + m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; + m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; + return *this; + } + + //! Operator for Matrix3x3 /= float + inline_ Matrix3x3& operator/=(float s) + { + if (s) s = 1.0f / s; + m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; + m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; + m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; + return *this; + } + + // Cast operators + //! Cast a Matrix3x3 to a Matrix4x4. + operator Matrix4x4() const; + //! Cast a Matrix3x3 to a Quat. + operator Quat() const; + + inline_ const IcePoint& operator[](int row) const { return *(const IcePoint*)&m[row][0]; } + inline_ IcePoint& operator[](int row) { return *(IcePoint*)&m[row][0]; } + + public: + + float m[3][3]; + }; + +#endif // __ICEMATRIX3X3_H__ + diff --git a/Opcode/Ice/IceMatrix4x4.cpp b/Opcode/Ice/IceMatrix4x4.cpp index 749211e..f9d8997 100644 --- a/Opcode/Ice/IceMatrix4x4.cpp +++ b/Opcode/Ice/IceMatrix4x4.cpp @@ -1,135 +1,135 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for 4x4 matrices.
- * \file IceMatrix4x4.cpp
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * 4x4 matrix.
- * DirectX-compliant, ie row-column order, ie m[Row][Col].
- * Same as:
- * m11 m12 m13 m14 first row.
- * m21 m22 m23 m24 second row.
- * m31 m32 m33 m34 third row.
- * m41 m42 m43 m44 fourth row.
- * Translation is (m41, m42, m43), (m14, m24, m34, m44) = (0, 0, 0, 1).
- * Stored in memory as m11 m12 m13 m14 m21...
- *
- * Multiplication rules:
- *
- * [x'y'z'1] = [xyz1][M]
- *
- * x' = x*m11 + y*m21 + z*m31 + m41
- * y' = x*m12 + y*m22 + z*m32 + m42
- * z' = x*m13 + y*m23 + z*m33 + m43
- * 1' = 0 + 0 + 0 + m44
- *
- * \class Matrix4x4
- * \author Pierre Terdiman
- * \version 1.0
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Inverts a PR matrix. (which only contains a rotation and a translation)
- * This is faster and less subject to FPU errors than the generic inversion code.
- *
- * \relates Matrix4x4
- * \fn InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src)
- * \param dest [out] destination matrix
- * \param src [in] source matrix
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-ICEMATHS_API void IceMaths::InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src)
-{
- dest.m[0][0] = src.m[0][0];
- dest.m[1][0] = src.m[0][1];
- dest.m[2][0] = src.m[0][2];
- dest.m[3][0] = -(src.m[3][0]*src.m[0][0] + src.m[3][1]*src.m[0][1] + src.m[3][2]*src.m[0][2]);
-
- dest.m[0][1] = src.m[1][0];
- dest.m[1][1] = src.m[1][1];
- dest.m[2][1] = src.m[1][2];
- dest.m[3][1] = -(src.m[3][0]*src.m[1][0] + src.m[3][1]*src.m[1][1] + src.m[3][2]*src.m[1][2]);
-
- dest.m[0][2] = src.m[2][0];
- dest.m[1][2] = src.m[2][1];
- dest.m[2][2] = src.m[2][2];
- dest.m[3][2] = -(src.m[3][0]*src.m[2][0] + src.m[3][1]*src.m[2][1] + src.m[3][2]*src.m[2][2]);
-
- dest.m[0][3] = 0.0f;
- dest.m[1][3] = 0.0f;
- dest.m[2][3] = 0.0f;
- dest.m[3][3] = 1.0f;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Compute the cofactor of the Matrix at a specified location
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float Matrix4x4::CoFactor(udword row, udword col) const
-{
- return (( m[(row+1)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+3)&3][(col+3)&3] +
- m[(row+1)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+3)&3][(col+1)&3] +
- m[(row+1)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+3)&3][(col+2)&3])
- - (m[(row+3)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+1)&3][(col+3)&3] +
- m[(row+3)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+1)&3][(col+1)&3] +
- m[(row+3)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+1)&3][(col+2)&3])) * ((row + col) & 1 ? -1.0f : +1.0f);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Compute the determinant of the Matrix
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float Matrix4x4::Determinant() const
-{
- return m[0][0] * CoFactor(0, 0) +
- m[0][1] * CoFactor(0, 1) +
- m[0][2] * CoFactor(0, 2) +
- m[0][3] * CoFactor(0, 3);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Compute the inverse of the matrix
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Matrix4x4& Matrix4x4::Invert()
-{
- float Det = Determinant();
- Matrix4x4 Temp;
-
- if(fabsf(Det) < MATRIX4X4_EPSILON)
- return *this; // The matrix is not invertible! Singular case!
-
- float IDet = 1.0f / Det;
-
- Temp.m[0][0] = CoFactor(0,0) * IDet;
- Temp.m[1][0] = CoFactor(0,1) * IDet;
- Temp.m[2][0] = CoFactor(0,2) * IDet;
- Temp.m[3][0] = CoFactor(0,3) * IDet;
- Temp.m[0][1] = CoFactor(1,0) * IDet;
- Temp.m[1][1] = CoFactor(1,1) * IDet;
- Temp.m[2][1] = CoFactor(1,2) * IDet;
- Temp.m[3][1] = CoFactor(1,3) * IDet;
- Temp.m[0][2] = CoFactor(2,0) * IDet;
- Temp.m[1][2] = CoFactor(2,1) * IDet;
- Temp.m[2][2] = CoFactor(2,2) * IDet;
- Temp.m[3][2] = CoFactor(2,3) * IDet;
- Temp.m[0][3] = CoFactor(3,0) * IDet;
- Temp.m[1][3] = CoFactor(3,1) * IDet;
- Temp.m[2][3] = CoFactor(3,2) * IDet;
- Temp.m[3][3] = CoFactor(3,3) * IDet;
-
- *this = Temp;
-
- return *this;
-}
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 4x4 matrices. + * \file IceMatrix4x4.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 4x4 matrix. + * DirectX-compliant, ie row-column order, ie m[Row][Col]. + * Same as: + * m11 m12 m13 m14 first row. + * m21 m22 m23 m24 second row. + * m31 m32 m33 m34 third row. + * m41 m42 m43 m44 fourth row. + * Translation is (m41, m42, m43), (m14, m24, m34, m44) = (0, 0, 0, 1). + * Stored in memory as m11 m12 m13 m14 m21... + * + * Multiplication rules: + * + * [x'y'z'1] = [xyz1][M] + * + * x' = x*m11 + y*m21 + z*m31 + m41 + * y' = x*m12 + y*m22 + z*m32 + m42 + * z' = x*m13 + y*m23 + z*m33 + m43 + * 1' = 0 + 0 + 0 + m44 + * + * \class Matrix4x4 + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Inverts a PR matrix. (which only contains a rotation and a translation) + * This is faster and less subject to FPU errors than the generic inversion code. + * + * \relates Matrix4x4 + * \fn InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src) + * \param dest [out] destination matrix + * \param src [in] source matrix + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +ICEMATHS_API void IceMaths::InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src) +{ + dest.m[0][0] = src.m[0][0]; + dest.m[1][0] = src.m[0][1]; + dest.m[2][0] = src.m[0][2]; + dest.m[3][0] = -(src.m[3][0]*src.m[0][0] + src.m[3][1]*src.m[0][1] + src.m[3][2]*src.m[0][2]); + + dest.m[0][1] = src.m[1][0]; + dest.m[1][1] = src.m[1][1]; + dest.m[2][1] = src.m[1][2]; + dest.m[3][1] = -(src.m[3][0]*src.m[1][0] + src.m[3][1]*src.m[1][1] + src.m[3][2]*src.m[1][2]); + + dest.m[0][2] = src.m[2][0]; + dest.m[1][2] = src.m[2][1]; + dest.m[2][2] = src.m[2][2]; + dest.m[3][2] = -(src.m[3][0]*src.m[2][0] + src.m[3][1]*src.m[2][1] + src.m[3][2]*src.m[2][2]); + + dest.m[0][3] = 0.0f; + dest.m[1][3] = 0.0f; + dest.m[2][3] = 0.0f; + dest.m[3][3] = 1.0f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Compute the cofactor of the Matrix at a specified location +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Matrix4x4::CoFactor(udword row, udword col) const +{ + return (( m[(row+1)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+3)&3][(col+3)&3] + + m[(row+1)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+3)&3][(col+1)&3] + + m[(row+1)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+3)&3][(col+2)&3]) + - (m[(row+3)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+1)&3][(col+3)&3] + + m[(row+3)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+1)&3][(col+1)&3] + + m[(row+3)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+1)&3][(col+2)&3])) * ((row + col) & 1 ? -1.0f : +1.0f); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Compute the determinant of the Matrix +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Matrix4x4::Determinant() const +{ + return m[0][0] * CoFactor(0, 0) + + m[0][1] * CoFactor(0, 1) + + m[0][2] * CoFactor(0, 2) + + m[0][3] * CoFactor(0, 3); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Compute the inverse of the matrix +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Matrix4x4& Matrix4x4::Invert() +{ + float Det = Determinant(); + Matrix4x4 Temp; + + if(fabsf(Det) < MATRIX4X4_EPSILON) + return *this; // The matrix is not invertible! Singular case! + + float IDet = 1.0f / Det; + + Temp.m[0][0] = CoFactor(0,0) * IDet; + Temp.m[1][0] = CoFactor(0,1) * IDet; + Temp.m[2][0] = CoFactor(0,2) * IDet; + Temp.m[3][0] = CoFactor(0,3) * IDet; + Temp.m[0][1] = CoFactor(1,0) * IDet; + Temp.m[1][1] = CoFactor(1,1) * IDet; + Temp.m[2][1] = CoFactor(1,2) * IDet; + Temp.m[3][1] = CoFactor(1,3) * IDet; + Temp.m[0][2] = CoFactor(2,0) * IDet; + Temp.m[1][2] = CoFactor(2,1) * IDet; + Temp.m[2][2] = CoFactor(2,2) * IDet; + Temp.m[3][2] = CoFactor(2,3) * IDet; + Temp.m[0][3] = CoFactor(3,0) * IDet; + Temp.m[1][3] = CoFactor(3,1) * IDet; + Temp.m[2][3] = CoFactor(3,2) * IDet; + Temp.m[3][3] = CoFactor(3,3) * IDet; + + *this = Temp; + + return *this; +} + diff --git a/Opcode/Ice/IceMatrix4x4.h b/Opcode/Ice/IceMatrix4x4.h index 0b08a4a..82ebc05 100644 --- a/Opcode/Ice/IceMatrix4x4.h +++ b/Opcode/Ice/IceMatrix4x4.h @@ -1,455 +1,455 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for 4x4 matrices.
- * \file IceMatrix4x4.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEMATRIX4X4_H__
-#define __ICEMATRIX4X4_H__
-
- // Forward declarations
- class PRS;
- class PR;
-
- #define MATRIX4X4_EPSILON (1.0e-7f)
-
- class ICEMATHS_API Matrix4x4
- {
-// void LUBackwardSubstitution( sdword *indx, float* b );
-// void LUDecomposition( sdword* indx, float* d );
-
- public:
- //! Empty constructor.
- inline_ Matrix4x4() {}
- //! Constructor from 16 values
- inline_ Matrix4x4( float m00, float m01, float m02, float m03,
- float m10, float m11, float m12, float m13,
- float m20, float m21, float m22, float m23,
- float m30, float m31, float m32, float m33)
- {
- m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03;
- m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13;
- m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23;
- m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33;
- }
- //! Copy constructor
- inline_ Matrix4x4(const Matrix4x4& mat) { CopyMemory(m, &mat.m, 16*sizeof(float)); }
- //! Destructor.
- inline_ ~Matrix4x4() {}
-
- //! Assign values (rotation only)
- inline_ Matrix4x4& Set( float m00, float m01, float m02,
- float m10, float m11, float m12,
- float m20, float m21, float m22)
- {
- m[0][0] = m00; m[0][1] = m01; m[0][2] = m02;
- m[1][0] = m10; m[1][1] = m11; m[1][2] = m12;
- m[2][0] = m20; m[2][1] = m21; m[2][2] = m22;
- return *this;
- }
- //! Assign values
- inline_ Matrix4x4& Set( float m00, float m01, float m02, float m03,
- float m10, float m11, float m12, float m13,
- float m20, float m21, float m22, float m23,
- float m30, float m31, float m32, float m33)
- {
- m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03;
- m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13;
- m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23;
- m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33;
- return *this;
- }
-
- //! Copy from a Matrix4x4
- inline_ void Copy(const Matrix4x4& source) { CopyMemory(m, source.m, 16*sizeof(float)); }
-
- // Row-column access
- //! Returns a row.
- inline_ void GetRow(const udword r, HPoint& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; p.w=m[r][3]; }
- //! Returns a row.
- inline_ void GetRow(const udword r, IcePoint& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; }
- //! Returns a row.
- inline_ const HPoint& GetRow(const udword r) const { return *(const HPoint*)&m[r][0]; }
- //! Returns a row.
- inline_ HPoint& GetRow(const udword r) { return *(HPoint*)&m[r][0]; }
- //! Sets a row.
- inline_ void SetRow(const udword r, const HPoint& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]=p.w; }
- //! Sets a row.
- inline_ void SetRow(const udword r, const IcePoint& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]= (r!=3) ? 0.0f : 1.0f; }
- //! Returns a column.
- inline_ void GetCol(const udword c, HPoint& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; p.w=m[3][c]; }
- //! Returns a column.
- inline_ void GetCol(const udword c, IcePoint& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; }
- //! Sets a column.
- inline_ void SetCol(const udword c, const HPoint& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]=p.w; }
- //! Sets a column.
- inline_ void SetCol(const udword c, const IcePoint& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]= (c!=3) ? 0.0f : 1.0f; }
-
- // Translation
- //! Returns the translation part of the matrix.
- inline_ const HPoint& GetTrans() const { return GetRow(3); }
- //! Gets the translation part of the matrix
- inline_ void GetTrans(IcePoint& p) const { p.x=m[3][0]; p.y=m[3][1]; p.z=m[3][2]; }
- //! Sets the translation part of the matrix, from a Point.
- inline_ void SetTrans(const IcePoint& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; }
- //! Sets the translation part of the matrix, from a HPoint.
- inline_ void SetTrans(const HPoint& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; m[3][3]=p.w; }
- //! Sets the translation part of the matrix, from floats.
- inline_ void SetTrans(float tx, float ty, float tz) { m[3][0]=tx; m[3][1]=ty; m[3][2]=tz; }
-
- // Scale
- //! Sets the scale from a Point. The point is put on the diagonal.
- inline_ void SetScale(const IcePoint& p) { m[0][0]=p.x; m[1][1]=p.y; m[2][2]=p.z; }
- //! Sets the scale from floats. Values are put on the diagonal.
- inline_ void SetScale(float sx, float sy, float sz) { m[0][0]=sx; m[1][1]=sy; m[2][2]=sz; }
- //! Scales from a Point. Each row is multiplied by a component.
- void Scale(const IcePoint& p)
- {
- m[0][0] *= p.x; m[1][0] *= p.y; m[2][0] *= p.z;
- m[0][1] *= p.x; m[1][1] *= p.y; m[2][1] *= p.z;
- m[0][2] *= p.x; m[1][2] *= p.y; m[2][2] *= p.z;
- }
- //! Scales from floats. Each row is multiplied by a value.
- void Scale(float sx, float sy, float sz)
- {
- m[0][0] *= sx; m[1][0] *= sy; m[2][0] *= sz;
- m[0][1] *= sx; m[1][1] *= sy; m[2][1] *= sz;
- m[0][2] *= sx; m[1][2] *= sy; m[2][2] *= sz;
- }
-/*
- //! Returns a row.
- inline_ HPoint GetRow(const udword row) const { return mRow[row]; }
- //! Sets a row.
- inline_ Matrix4x4& SetRow(const udword row, const HPoint& p) { mRow[row] = p; return *this; }
- //! Sets a row.
- Matrix4x4& SetRow(const udword row, const Point& p)
- {
- m[row][0] = p.x;
- m[row][1] = p.y;
- m[row][2] = p.z;
- m[row][3] = (row != 3) ? 0.0f : 1.0f;
- return *this;
- }
- //! Returns a column.
- HPoint GetCol(const udword col) const
- {
- HPoint Res;
- Res.x = m[0][col];
- Res.y = m[1][col];
- Res.z = m[2][col];
- Res.w = m[3][col];
- return Res;
- }
- //! Sets a column.
- Matrix4x4& SetCol(const udword col, const HPoint& p)
- {
- m[0][col] = p.x;
- m[1][col] = p.y;
- m[2][col] = p.z;
- m[3][col] = p.w;
- return *this;
- }
- //! Sets a column.
- Matrix4x4& SetCol(const udword col, const Point& p)
- {
- m[0][col] = p.x;
- m[1][col] = p.y;
- m[2][col] = p.z;
- m[3][col] = (col != 3) ? 0.0f : 1.0f;
- return *this;
- }
-*/
- //! Computes the trace. The trace is the sum of the 4 diagonal components.
- inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2] + m[3][3]; }
- //! Computes the trace of the upper 3x3 matrix.
- inline_ float Trace3x3() const { return m[0][0] + m[1][1] + m[2][2]; }
- //! Clears the matrix.
- inline_ void Zero() { ZeroMemory(&m, sizeof(m)); }
- //! Sets the identity matrix.
- inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0f; }
- //! Checks for identity
- inline_ bool IsIdentity() const
- {
- if(IR(m[0][0])!=IEEE_1_0) return false;
- if(IR(m[0][1])!=0) return false;
- if(IR(m[0][2])!=0) return false;
- if(IR(m[0][3])!=0) return false;
-
- if(IR(m[1][0])!=0) return false;
- if(IR(m[1][1])!=IEEE_1_0) return false;
- if(IR(m[1][2])!=0) return false;
- if(IR(m[1][3])!=0) return false;
-
- if(IR(m[2][0])!=0) return false;
- if(IR(m[2][1])!=0) return false;
- if(IR(m[2][2])!=IEEE_1_0) return false;
- if(IR(m[2][3])!=0) return false;
-
- if(IR(m[3][0])!=0) return false;
- if(IR(m[3][1])!=0) return false;
- if(IR(m[3][2])!=0) return false;
- if(IR(m[3][3])!=IEEE_1_0) return false;
- return true;
- }
-
- //! Checks matrix validity
- inline_ BOOL IsValid() const
- {
- for(udword j=0;j<4;j++)
- {
- for(udword i=0;i<4;i++)
- {
- if(!IsValidFloat(m[j][i])) return FALSE;
- }
- }
- return TRUE;
- }
-
- //! Sets a rotation matrix around the X axis.
- void RotX(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[1][1] = m[2][2] = Cos; m[2][1] = -Sin; m[1][2] = Sin; }
- //! Sets a rotation matrix around the Y axis.
- void RotY(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[2][2] = Cos; m[2][0] = Sin; m[0][2] = -Sin; }
- //! Sets a rotation matrix around the Z axis.
- void RotZ(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[1][1] = Cos; m[1][0] = -Sin; m[0][1] = Sin; }
-
- //! Makes a rotation matrix about an arbitrary axis
- Matrix4x4& Rot(float angle, IcePoint& p1, IcePoint& p2);
-
- //! Transposes the matrix.
- void Transpose()
- {
- IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]);
- IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]);
- IR(m[3][0]) ^= IR(m[0][3]); IR(m[0][3]) ^= IR(m[3][0]); IR(m[3][0]) ^= IR(m[0][3]);
- IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]);
- IR(m[1][3]) ^= IR(m[3][1]); IR(m[3][1]) ^= IR(m[1][3]); IR(m[1][3]) ^= IR(m[3][1]);
- IR(m[2][3]) ^= IR(m[3][2]); IR(m[3][2]) ^= IR(m[2][3]); IR(m[2][3]) ^= IR(m[3][2]);
- }
-
- //! Computes a cofactor. Used for matrix inversion.
- float CoFactor(udword row, udword col) const;
- //! Computes the determinant of the matrix.
- float Determinant() const;
- //! Inverts the matrix. Determinant must be different from zero, else matrix can't be inverted.
- Matrix4x4& Invert();
-// Matrix& ComputeAxisMatrix(Point& axis, float angle);
-
- // Cast operators
- //! Casts a Matrix4x4 to a Matrix3x3.
- inline_ operator Matrix3x3() const
- {
- return Matrix3x3(
- m[0][0], m[0][1], m[0][2],
- m[1][0], m[1][1], m[1][2],
- m[2][0], m[2][1], m[2][2]);
- }
- //! Casts a Matrix4x4 to a Quat.
- operator Quat() const;
- //! Casts a Matrix4x4 to a PR.
- operator PR() const;
-
- // Arithmetic operators
- //! Operator for Matrix4x4 Plus = Matrix4x4 + Matrix4x4;
- inline_ Matrix4x4 operator+(const Matrix4x4& mat) const
- {
- return Matrix4x4(
- m[0][0]+mat.m[0][0], m[0][1]+mat.m[0][1], m[0][2]+mat.m[0][2], m[0][3]+mat.m[0][3],
- m[1][0]+mat.m[1][0], m[1][1]+mat.m[1][1], m[1][2]+mat.m[1][2], m[1][3]+mat.m[1][3],
- m[2][0]+mat.m[2][0], m[2][1]+mat.m[2][1], m[2][2]+mat.m[2][2], m[2][3]+mat.m[2][3],
- m[3][0]+mat.m[3][0], m[3][1]+mat.m[3][1], m[3][2]+mat.m[3][2], m[3][3]+mat.m[3][3]);
- }
-
- //! Operator for Matrix4x4 Minus = Matrix4x4 - Matrix4x4;
- inline_ Matrix4x4 operator-(const Matrix4x4& mat) const
- {
- return Matrix4x4(
- m[0][0]-mat.m[0][0], m[0][1]-mat.m[0][1], m[0][2]-mat.m[0][2], m[0][3]-mat.m[0][3],
- m[1][0]-mat.m[1][0], m[1][1]-mat.m[1][1], m[1][2]-mat.m[1][2], m[1][3]-mat.m[1][3],
- m[2][0]-mat.m[2][0], m[2][1]-mat.m[2][1], m[2][2]-mat.m[2][2], m[2][3]-mat.m[2][3],
- m[3][0]-mat.m[3][0], m[3][1]-mat.m[3][1], m[3][2]-mat.m[3][2], m[3][3]-mat.m[3][3]);
- }
-
- //! Operator for Matrix4x4 Mul = Matrix4x4 * Matrix4x4;
- inline_ Matrix4x4 operator*(const Matrix4x4& mat) const
- {
- return Matrix4x4(
- m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0] + m[0][3]*mat.m[3][0],
- m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1] + m[0][3]*mat.m[3][1],
- m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2] + m[0][3]*mat.m[3][2],
- m[0][0]*mat.m[0][3] + m[0][1]*mat.m[1][3] + m[0][2]*mat.m[2][3] + m[0][3]*mat.m[3][3],
-
- m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0] + m[1][3]*mat.m[3][0],
- m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1] + m[1][3]*mat.m[3][1],
- m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2] + m[1][3]*mat.m[3][2],
- m[1][0]*mat.m[0][3] + m[1][1]*mat.m[1][3] + m[1][2]*mat.m[2][3] + m[1][3]*mat.m[3][3],
-
- m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0] + m[2][3]*mat.m[3][0],
- m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1] + m[2][3]*mat.m[3][1],
- m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2] + m[2][3]*mat.m[3][2],
- m[2][0]*mat.m[0][3] + m[2][1]*mat.m[1][3] + m[2][2]*mat.m[2][3] + m[2][3]*mat.m[3][3],
-
- m[3][0]*mat.m[0][0] + m[3][1]*mat.m[1][0] + m[3][2]*mat.m[2][0] + m[3][3]*mat.m[3][0],
- m[3][0]*mat.m[0][1] + m[3][1]*mat.m[1][1] + m[3][2]*mat.m[2][1] + m[3][3]*mat.m[3][1],
- m[3][0]*mat.m[0][2] + m[3][1]*mat.m[1][2] + m[3][2]*mat.m[2][2] + m[3][3]*mat.m[3][2],
- m[3][0]*mat.m[0][3] + m[3][1]*mat.m[1][3] + m[3][2]*mat.m[2][3] + m[3][3]*mat.m[3][3]);
- }
-
- //! Operator for HPoint Mul = Matrix4x4 * HPoint;
- inline_ HPoint operator*(const HPoint& v) const { return HPoint(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v, GetRow(3)|v); }
-
- //! Operator for Point Mul = Matrix4x4 * Point;
- inline_ IcePoint operator*(const IcePoint& v) const
- {
- return IcePoint( m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z + m[0][3],
- m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z + m[1][3],
- m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z + m[2][3] );
- }
-
- //! Operator for Matrix4x4 Scale = Matrix4x4 * float;
- inline_ Matrix4x4 operator*(float s) const
- {
- return Matrix4x4(
- m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s,
- m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s,
- m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s,
- m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s);
- }
-
- //! Operator for Matrix4x4 Scale = float * Matrix4x4;
- inline_ friend Matrix4x4 operator*(float s, const Matrix4x4& mat)
- {
- return Matrix4x4(
- s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], s*mat.m[0][3],
- s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], s*mat.m[1][3],
- s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2], s*mat.m[2][3],
- s*mat.m[3][0], s*mat.m[3][1], s*mat.m[3][2], s*mat.m[3][3]);
- }
-
- //! Operator for Matrix4x4 Div = Matrix4x4 / float;
- inline_ Matrix4x4 operator/(float s) const
- {
- if(s) s = 1.0f / s;
-
- return Matrix4x4(
- m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s,
- m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s,
- m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s,
- m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s);
- }
-
- //! Operator for Matrix4x4 Div = float / Matrix4x4;
- inline_ friend Matrix4x4 operator/(float s, const Matrix4x4& mat)
- {
- return Matrix4x4(
- s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], s/mat.m[0][3],
- s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], s/mat.m[1][3],
- s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2], s/mat.m[2][3],
- s/mat.m[3][0], s/mat.m[3][1], s/mat.m[3][2], s/mat.m[3][3]);
- }
-
- //! Operator for Matrix4x4 += Matrix4x4;
- inline_ Matrix4x4& operator+=(const Matrix4x4& mat)
- {
- m[0][0]+=mat.m[0][0]; m[0][1]+=mat.m[0][1]; m[0][2]+=mat.m[0][2]; m[0][3]+=mat.m[0][3];
- m[1][0]+=mat.m[1][0]; m[1][1]+=mat.m[1][1]; m[1][2]+=mat.m[1][2]; m[1][3]+=mat.m[1][3];
- m[2][0]+=mat.m[2][0]; m[2][1]+=mat.m[2][1]; m[2][2]+=mat.m[2][2]; m[2][3]+=mat.m[2][3];
- m[3][0]+=mat.m[3][0]; m[3][1]+=mat.m[3][1]; m[3][2]+=mat.m[3][2]; m[3][3]+=mat.m[3][3];
- return *this;
- }
-
- //! Operator for Matrix4x4 -= Matrix4x4;
- inline_ Matrix4x4& operator-=(const Matrix4x4& mat)
- {
- m[0][0]-=mat.m[0][0]; m[0][1]-=mat.m[0][1]; m[0][2]-=mat.m[0][2]; m[0][3]-=mat.m[0][3];
- m[1][0]-=mat.m[1][0]; m[1][1]-=mat.m[1][1]; m[1][2]-=mat.m[1][2]; m[1][3]-=mat.m[1][3];
- m[2][0]-=mat.m[2][0]; m[2][1]-=mat.m[2][1]; m[2][2]-=mat.m[2][2]; m[2][3]-=mat.m[2][3];
- m[3][0]-=mat.m[3][0]; m[3][1]-=mat.m[3][1]; m[3][2]-=mat.m[3][2]; m[3][3]-=mat.m[3][3];
- return *this;
- }
-
- //! Operator for Matrix4x4 *= Matrix4x4;
- Matrix4x4& operator*=(const Matrix4x4& mat)
- {
- HPoint TempRow;
-
- GetRow(0, TempRow);
- m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
- m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
- m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
- m[0][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
-
- GetRow(1, TempRow);
- m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
- m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
- m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
- m[1][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
-
- GetRow(2, TempRow);
- m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
- m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
- m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
- m[2][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
-
- GetRow(3, TempRow);
- m[3][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
- m[3][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
- m[3][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
- m[3][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
-
- return *this;
- }
-
- //! Operator for Matrix4x4 *= float;
- inline_ Matrix4x4& operator*=(float s)
- {
- m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s;
- m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s;
- m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s;
- m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s;
- return *this;
- }
-
- //! Operator for Matrix4x4 /= float;
- inline_ Matrix4x4& operator/=(float s)
- {
- if(s) s = 1.0f / s;
- m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s;
- m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s;
- m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s;
- m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s;
- return *this;
- }
-
- inline_ const HPoint& operator[](int row) const { return *(const HPoint*)&m[row][0]; }
- inline_ HPoint& operator[](int row) { return *(HPoint*)&m[row][0]; }
-
- public:
-
- float m[4][4];
- };
-
- //! Quickly rotates & translates a vector, using the 4x3 part of a 4x4 matrix
- inline_ void TransformPoint4x3(IcePoint& dest, const IcePoint& source, const Matrix4x4& rot)
- {
- dest.x = rot.m[3][0] + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0];
- dest.y = rot.m[3][1] + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1];
- dest.z = rot.m[3][2] + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2];
- }
-
- //! Quickly rotates a vector, using the 3x3 part of a 4x4 matrix
- inline_ void TransformPoint3x3(IcePoint& dest, const IcePoint& source, const Matrix4x4& rot)
- {
- dest.x = source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0];
- dest.y = source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1];
- dest.z = source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2];
- }
-
- ICEMATHS_API void InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src);
-
-#endif // __ICEMATRIX4X4_H__
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 4x4 matrices. + * \file IceMatrix4x4.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEMATRIX4X4_H__ +#define __ICEMATRIX4X4_H__ + + // Forward declarations + class PRS; + class PR; + + #define MATRIX4X4_EPSILON (1.0e-7f) + + class ICEMATHS_API Matrix4x4 + { +// void LUBackwardSubstitution( sdword *indx, float* b ); +// void LUDecomposition( sdword* indx, float* d ); + + public: + //! Empty constructor. + inline_ Matrix4x4() {} + //! Constructor from 16 values + inline_ Matrix4x4( float m00, float m01, float m02, float m03, + float m10, float m11, float m12, float m13, + float m20, float m21, float m22, float m23, + float m30, float m31, float m32, float m33) + { + m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03; + m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13; + m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23; + m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33; + } + //! Copy constructor + inline_ Matrix4x4(const Matrix4x4& mat) { CopyMemory(m, &mat.m, 16*sizeof(float)); } + //! Destructor. + inline_ ~Matrix4x4() {} + + //! Assign values (rotation only) + inline_ Matrix4x4& Set( float m00, float m01, float m02, + float m10, float m11, float m12, + float m20, float m21, float m22) + { + m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; + m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; + m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; + return *this; + } + //! Assign values + inline_ Matrix4x4& Set( float m00, float m01, float m02, float m03, + float m10, float m11, float m12, float m13, + float m20, float m21, float m22, float m23, + float m30, float m31, float m32, float m33) + { + m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03; + m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13; + m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23; + m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33; + return *this; + } + + //! Copy from a Matrix4x4 + inline_ void Copy(const Matrix4x4& source) { CopyMemory(m, source.m, 16*sizeof(float)); } + + // Row-column access + //! Returns a row. + inline_ void GetRow(const udword r, HPoint& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; p.w=m[r][3]; } + //! Returns a row. + inline_ void GetRow(const udword r, IcePoint& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; } + //! Returns a row. + inline_ const HPoint& GetRow(const udword r) const { return *(const HPoint*)&m[r][0]; } + //! Returns a row. + inline_ HPoint& GetRow(const udword r) { return *(HPoint*)&m[r][0]; } + //! Sets a row. + inline_ void SetRow(const udword r, const HPoint& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]=p.w; } + //! Sets a row. + inline_ void SetRow(const udword r, const IcePoint& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]= (r!=3) ? 0.0f : 1.0f; } + //! Returns a column. + inline_ void GetCol(const udword c, HPoint& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; p.w=m[3][c]; } + //! Returns a column. + inline_ void GetCol(const udword c, IcePoint& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; } + //! Sets a column. + inline_ void SetCol(const udword c, const HPoint& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]=p.w; } + //! Sets a column. + inline_ void SetCol(const udword c, const IcePoint& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]= (c!=3) ? 0.0f : 1.0f; } + + // Translation + //! Returns the translation part of the matrix. + inline_ const HPoint& GetTrans() const { return GetRow(3); } + //! Gets the translation part of the matrix + inline_ void GetTrans(IcePoint& p) const { p.x=m[3][0]; p.y=m[3][1]; p.z=m[3][2]; } + //! Sets the translation part of the matrix, from a Point. + inline_ void SetTrans(const IcePoint& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; } + //! Sets the translation part of the matrix, from a HPoint. + inline_ void SetTrans(const HPoint& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; m[3][3]=p.w; } + //! Sets the translation part of the matrix, from floats. + inline_ void SetTrans(float tx, float ty, float tz) { m[3][0]=tx; m[3][1]=ty; m[3][2]=tz; } + + // Scale + //! Sets the scale from a Point. The point is put on the diagonal. + inline_ void SetScale(const IcePoint& p) { m[0][0]=p.x; m[1][1]=p.y; m[2][2]=p.z; } + //! Sets the scale from floats. Values are put on the diagonal. + inline_ void SetScale(float sx, float sy, float sz) { m[0][0]=sx; m[1][1]=sy; m[2][2]=sz; } + //! Scales from a Point. Each row is multiplied by a component. + void Scale(const IcePoint& p) + { + m[0][0] *= p.x; m[1][0] *= p.y; m[2][0] *= p.z; + m[0][1] *= p.x; m[1][1] *= p.y; m[2][1] *= p.z; + m[0][2] *= p.x; m[1][2] *= p.y; m[2][2] *= p.z; + } + //! Scales from floats. Each row is multiplied by a value. + void Scale(float sx, float sy, float sz) + { + m[0][0] *= sx; m[1][0] *= sy; m[2][0] *= sz; + m[0][1] *= sx; m[1][1] *= sy; m[2][1] *= sz; + m[0][2] *= sx; m[1][2] *= sy; m[2][2] *= sz; + } +/* + //! Returns a row. + inline_ HPoint GetRow(const udword row) const { return mRow[row]; } + //! Sets a row. + inline_ Matrix4x4& SetRow(const udword row, const HPoint& p) { mRow[row] = p; return *this; } + //! Sets a row. + Matrix4x4& SetRow(const udword row, const Point& p) + { + m[row][0] = p.x; + m[row][1] = p.y; + m[row][2] = p.z; + m[row][3] = (row != 3) ? 0.0f : 1.0f; + return *this; + } + //! Returns a column. + HPoint GetCol(const udword col) const + { + HPoint Res; + Res.x = m[0][col]; + Res.y = m[1][col]; + Res.z = m[2][col]; + Res.w = m[3][col]; + return Res; + } + //! Sets a column. + Matrix4x4& SetCol(const udword col, const HPoint& p) + { + m[0][col] = p.x; + m[1][col] = p.y; + m[2][col] = p.z; + m[3][col] = p.w; + return *this; + } + //! Sets a column. + Matrix4x4& SetCol(const udword col, const Point& p) + { + m[0][col] = p.x; + m[1][col] = p.y; + m[2][col] = p.z; + m[3][col] = (col != 3) ? 0.0f : 1.0f; + return *this; + } +*/ + //! Computes the trace. The trace is the sum of the 4 diagonal components. + inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2] + m[3][3]; } + //! Computes the trace of the upper 3x3 matrix. + inline_ float Trace3x3() const { return m[0][0] + m[1][1] + m[2][2]; } + //! Clears the matrix. + inline_ void Zero() { ZeroMemory(&m, sizeof(m)); } + //! Sets the identity matrix. + inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0f; } + //! Checks for identity + inline_ bool IsIdentity() const + { + if(IR(m[0][0])!=IEEE_1_0) return false; + if(IR(m[0][1])!=0) return false; + if(IR(m[0][2])!=0) return false; + if(IR(m[0][3])!=0) return false; + + if(IR(m[1][0])!=0) return false; + if(IR(m[1][1])!=IEEE_1_0) return false; + if(IR(m[1][2])!=0) return false; + if(IR(m[1][3])!=0) return false; + + if(IR(m[2][0])!=0) return false; + if(IR(m[2][1])!=0) return false; + if(IR(m[2][2])!=IEEE_1_0) return false; + if(IR(m[2][3])!=0) return false; + + if(IR(m[3][0])!=0) return false; + if(IR(m[3][1])!=0) return false; + if(IR(m[3][2])!=0) return false; + if(IR(m[3][3])!=IEEE_1_0) return false; + return true; + } + + //! Checks matrix validity + inline_ BOOL IsValid() const + { + for(udword j=0;j<4;j++) + { + for(udword i=0;i<4;i++) + { + if(!IsValidFloat(m[j][i])) return FALSE; + } + } + return TRUE; + } + + //! Sets a rotation matrix around the X axis. + void RotX(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[1][1] = m[2][2] = Cos; m[2][1] = -Sin; m[1][2] = Sin; } + //! Sets a rotation matrix around the Y axis. + void RotY(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[2][2] = Cos; m[2][0] = Sin; m[0][2] = -Sin; } + //! Sets a rotation matrix around the Z axis. + void RotZ(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[1][1] = Cos; m[1][0] = -Sin; m[0][1] = Sin; } + + //! Makes a rotation matrix about an arbitrary axis + Matrix4x4& Rot(float angle, IcePoint& p1, IcePoint& p2); + + //! Transposes the matrix. + void Transpose() + { + IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]); + IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]); + IR(m[3][0]) ^= IR(m[0][3]); IR(m[0][3]) ^= IR(m[3][0]); IR(m[3][0]) ^= IR(m[0][3]); + IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]); + IR(m[1][3]) ^= IR(m[3][1]); IR(m[3][1]) ^= IR(m[1][3]); IR(m[1][3]) ^= IR(m[3][1]); + IR(m[2][3]) ^= IR(m[3][2]); IR(m[3][2]) ^= IR(m[2][3]); IR(m[2][3]) ^= IR(m[3][2]); + } + + //! Computes a cofactor. Used for matrix inversion. + float CoFactor(udword row, udword col) const; + //! Computes the determinant of the matrix. + float Determinant() const; + //! Inverts the matrix. Determinant must be different from zero, else matrix can't be inverted. + Matrix4x4& Invert(); +// Matrix& ComputeAxisMatrix(Point& axis, float angle); + + // Cast operators + //! Casts a Matrix4x4 to a Matrix3x3. + inline_ operator Matrix3x3() const + { + return Matrix3x3( + m[0][0], m[0][1], m[0][2], + m[1][0], m[1][1], m[1][2], + m[2][0], m[2][1], m[2][2]); + } + //! Casts a Matrix4x4 to a Quat. + operator Quat() const; + //! Casts a Matrix4x4 to a PR. + operator PR() const; + + // Arithmetic operators + //! Operator for Matrix4x4 Plus = Matrix4x4 + Matrix4x4; + inline_ Matrix4x4 operator+(const Matrix4x4& mat) const + { + return Matrix4x4( + m[0][0]+mat.m[0][0], m[0][1]+mat.m[0][1], m[0][2]+mat.m[0][2], m[0][3]+mat.m[0][3], + m[1][0]+mat.m[1][0], m[1][1]+mat.m[1][1], m[1][2]+mat.m[1][2], m[1][3]+mat.m[1][3], + m[2][0]+mat.m[2][0], m[2][1]+mat.m[2][1], m[2][2]+mat.m[2][2], m[2][3]+mat.m[2][3], + m[3][0]+mat.m[3][0], m[3][1]+mat.m[3][1], m[3][2]+mat.m[3][2], m[3][3]+mat.m[3][3]); + } + + //! Operator for Matrix4x4 Minus = Matrix4x4 - Matrix4x4; + inline_ Matrix4x4 operator-(const Matrix4x4& mat) const + { + return Matrix4x4( + m[0][0]-mat.m[0][0], m[0][1]-mat.m[0][1], m[0][2]-mat.m[0][2], m[0][3]-mat.m[0][3], + m[1][0]-mat.m[1][0], m[1][1]-mat.m[1][1], m[1][2]-mat.m[1][2], m[1][3]-mat.m[1][3], + m[2][0]-mat.m[2][0], m[2][1]-mat.m[2][1], m[2][2]-mat.m[2][2], m[2][3]-mat.m[2][3], + m[3][0]-mat.m[3][0], m[3][1]-mat.m[3][1], m[3][2]-mat.m[3][2], m[3][3]-mat.m[3][3]); + } + + //! Operator for Matrix4x4 Mul = Matrix4x4 * Matrix4x4; + inline_ Matrix4x4 operator*(const Matrix4x4& mat) const + { + return Matrix4x4( + m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0] + m[0][3]*mat.m[3][0], + m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1] + m[0][3]*mat.m[3][1], + m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2] + m[0][3]*mat.m[3][2], + m[0][0]*mat.m[0][3] + m[0][1]*mat.m[1][3] + m[0][2]*mat.m[2][3] + m[0][3]*mat.m[3][3], + + m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0] + m[1][3]*mat.m[3][0], + m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1] + m[1][3]*mat.m[3][1], + m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2] + m[1][3]*mat.m[3][2], + m[1][0]*mat.m[0][3] + m[1][1]*mat.m[1][3] + m[1][2]*mat.m[2][3] + m[1][3]*mat.m[3][3], + + m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0] + m[2][3]*mat.m[3][0], + m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1] + m[2][3]*mat.m[3][1], + m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2] + m[2][3]*mat.m[3][2], + m[2][0]*mat.m[0][3] + m[2][1]*mat.m[1][3] + m[2][2]*mat.m[2][3] + m[2][3]*mat.m[3][3], + + m[3][0]*mat.m[0][0] + m[3][1]*mat.m[1][0] + m[3][2]*mat.m[2][0] + m[3][3]*mat.m[3][0], + m[3][0]*mat.m[0][1] + m[3][1]*mat.m[1][1] + m[3][2]*mat.m[2][1] + m[3][3]*mat.m[3][1], + m[3][0]*mat.m[0][2] + m[3][1]*mat.m[1][2] + m[3][2]*mat.m[2][2] + m[3][3]*mat.m[3][2], + m[3][0]*mat.m[0][3] + m[3][1]*mat.m[1][3] + m[3][2]*mat.m[2][3] + m[3][3]*mat.m[3][3]); + } + + //! Operator for HPoint Mul = Matrix4x4 * HPoint; + inline_ HPoint operator*(const HPoint& v) const { return HPoint(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v, GetRow(3)|v); } + + //! Operator for Point Mul = Matrix4x4 * Point; + inline_ IcePoint operator*(const IcePoint& v) const + { + return IcePoint( m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z + m[0][3], + m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z + m[1][3], + m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z + m[2][3] ); + } + + //! Operator for Matrix4x4 Scale = Matrix4x4 * float; + inline_ Matrix4x4 operator*(float s) const + { + return Matrix4x4( + m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s, + m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s, + m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s, + m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s); + } + + //! Operator for Matrix4x4 Scale = float * Matrix4x4; + inline_ friend Matrix4x4 operator*(float s, const Matrix4x4& mat) + { + return Matrix4x4( + s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], s*mat.m[0][3], + s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], s*mat.m[1][3], + s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2], s*mat.m[2][3], + s*mat.m[3][0], s*mat.m[3][1], s*mat.m[3][2], s*mat.m[3][3]); + } + + //! Operator for Matrix4x4 Div = Matrix4x4 / float; + inline_ Matrix4x4 operator/(float s) const + { + if(s) s = 1.0f / s; + + return Matrix4x4( + m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s, + m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s, + m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s, + m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s); + } + + //! Operator for Matrix4x4 Div = float / Matrix4x4; + inline_ friend Matrix4x4 operator/(float s, const Matrix4x4& mat) + { + return Matrix4x4( + s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], s/mat.m[0][3], + s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], s/mat.m[1][3], + s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2], s/mat.m[2][3], + s/mat.m[3][0], s/mat.m[3][1], s/mat.m[3][2], s/mat.m[3][3]); + } + + //! Operator for Matrix4x4 += Matrix4x4; + inline_ Matrix4x4& operator+=(const Matrix4x4& mat) + { + m[0][0]+=mat.m[0][0]; m[0][1]+=mat.m[0][1]; m[0][2]+=mat.m[0][2]; m[0][3]+=mat.m[0][3]; + m[1][0]+=mat.m[1][0]; m[1][1]+=mat.m[1][1]; m[1][2]+=mat.m[1][2]; m[1][3]+=mat.m[1][3]; + m[2][0]+=mat.m[2][0]; m[2][1]+=mat.m[2][1]; m[2][2]+=mat.m[2][2]; m[2][3]+=mat.m[2][3]; + m[3][0]+=mat.m[3][0]; m[3][1]+=mat.m[3][1]; m[3][2]+=mat.m[3][2]; m[3][3]+=mat.m[3][3]; + return *this; + } + + //! Operator for Matrix4x4 -= Matrix4x4; + inline_ Matrix4x4& operator-=(const Matrix4x4& mat) + { + m[0][0]-=mat.m[0][0]; m[0][1]-=mat.m[0][1]; m[0][2]-=mat.m[0][2]; m[0][3]-=mat.m[0][3]; + m[1][0]-=mat.m[1][0]; m[1][1]-=mat.m[1][1]; m[1][2]-=mat.m[1][2]; m[1][3]-=mat.m[1][3]; + m[2][0]-=mat.m[2][0]; m[2][1]-=mat.m[2][1]; m[2][2]-=mat.m[2][2]; m[2][3]-=mat.m[2][3]; + m[3][0]-=mat.m[3][0]; m[3][1]-=mat.m[3][1]; m[3][2]-=mat.m[3][2]; m[3][3]-=mat.m[3][3]; + return *this; + } + + //! Operator for Matrix4x4 *= Matrix4x4; + Matrix4x4& operator*=(const Matrix4x4& mat) + { + HPoint TempRow; + + GetRow(0, TempRow); + m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; + m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; + m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; + m[0][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; + + GetRow(1, TempRow); + m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; + m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; + m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; + m[1][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; + + GetRow(2, TempRow); + m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; + m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; + m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; + m[2][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; + + GetRow(3, TempRow); + m[3][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; + m[3][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; + m[3][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; + m[3][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; + + return *this; + } + + //! Operator for Matrix4x4 *= float; + inline_ Matrix4x4& operator*=(float s) + { + m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s; + m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s; + m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s; + m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s; + return *this; + } + + //! Operator for Matrix4x4 /= float; + inline_ Matrix4x4& operator/=(float s) + { + if(s) s = 1.0f / s; + m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s; + m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s; + m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s; + m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s; + return *this; + } + + inline_ const HPoint& operator[](int row) const { return *(const HPoint*)&m[row][0]; } + inline_ HPoint& operator[](int row) { return *(HPoint*)&m[row][0]; } + + public: + + float m[4][4]; + }; + + //! Quickly rotates & translates a vector, using the 4x3 part of a 4x4 matrix + inline_ void TransformPoint4x3(IcePoint& dest, const IcePoint& source, const Matrix4x4& rot) + { + dest.x = rot.m[3][0] + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; + dest.y = rot.m[3][1] + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; + dest.z = rot.m[3][2] + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; + } + + //! Quickly rotates a vector, using the 3x3 part of a 4x4 matrix + inline_ void TransformPoint3x3(IcePoint& dest, const IcePoint& source, const Matrix4x4& rot) + { + dest.x = source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; + dest.y = source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; + dest.z = source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; + } + + ICEMATHS_API void InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src); + +#endif // __ICEMATRIX4X4_H__ + diff --git a/Opcode/Ice/IceMemoryMacros.h b/Opcode/Ice/IceMemoryMacros.h index 346345b..0987e11 100644 --- a/Opcode/Ice/IceMemoryMacros.h +++ b/Opcode/Ice/IceMemoryMacros.h @@ -1,89 +1,89 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains all memory macros.
- * \file IceMemoryMacros.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEMEMORYMACROS_H__
-#define __ICEMEMORYMACROS_H__
-
-#undef ZeroMemory
-#undef CopyMemory
-#undef MoveMemory
-#undef FillMemory
-
- //! Clears a buffer.
- //! \param addr [in] buffer address
- //! \param size [in] buffer length
- //! \see FillMemory
- //! \see StoreDwords
- //! \see CopyMemory
- //! \see MoveMemory
- inline_ void ZeroMemory(void* addr, udword size) { memset(addr, 0, size); }
-
- //! Fills a buffer with a given byte.
- //! \param addr [in] buffer address
- //! \param size [in] buffer length
- //! \param val [in] the byte value
- //! \see StoreDwords
- //! \see ZeroMemory
- //! \see CopyMemory
- //! \see MoveMemory
- inline_ void FillMemory(void* dest, udword size, ubyte val) { memset(dest, val, size); }
-
- //! Fills a buffer with a given dword.
- //! \param addr [in] buffer address
- //! \param nb [in] number of dwords to write
- //! \param value [in] the dword value
- //! \see FillMemory
- //! \see ZeroMemory
- //! \see CopyMemory
- //! \see MoveMemory
- //! \warning writes nb*4 bytes !
- inline_ void StoreDwords(udword* dest, udword nb, udword value)
- {
- while (nb--) *dest++ = value;
- }
-
- //! Copies a buffer.
- //! \param addr [in] destination buffer address
- //! \param addr [in] source buffer address
- //! \param size [in] buffer length
- //! \see ZeroMemory
- //! \see FillMemory
- //! \see StoreDwords
- //! \see MoveMemory
- inline_ void CopyMemory(void* dest, const void* src, udword size) { memcpy(dest, src, size); }
-
- //! Moves a buffer.
- //! \param addr [in] destination buffer address
- //! \param addr [in] source buffer address
- //! \param size [in] buffer length
- //! \see ZeroMemory
- //! \see FillMemory
- //! \see StoreDwords
- //! \see CopyMemory
- inline_ void MoveMemory(void* dest, const void* src, udword size) { memmove(dest, src, size); }
-
- #define SIZEOFOBJECT sizeof(*this) //!< Gives the size of current object. Avoid some mistakes (e.g. "sizeof(this)").
- //#define CLEAROBJECT { memset(this, 0, SIZEOFOBJECT); } //!< Clears current object. Laziness is my business. HANDLE WITH CARE.
- #define DELETESINGLE(x) if (x) { delete x; x = null; } //!< Deletes an instance of a class.
- #define DELETEARRAY(x) if (x) { delete []x; x = null; } //!< Deletes an array.
- #define SAFE_RELEASE(x) if (x) { (x)->Release(); (x) = null; } //!< Safe D3D-style release
- #define SAFE_DESTRUCT(x) if (x) { (x)->SelfDestruct(); (x) = null; } //!< Safe ICE-style release
-
-#ifdef __ICEERROR_H__
- #define CHECKALLOC(x) if(!x) return SetIceError;; // ("Out of memory.", EC_OUT_OF_MEMORY); //!< Standard alloc checking. HANDLE WITH CARE.
-#else
- #define CHECKALLOC(x) if(!x) return false;
-#endif
-
- //! Standard allocation cycle
- #define SAFE_ALLOC(ptr, type, count) DELETEARRAY(ptr); ptr = new type[count]; CHECKALLOC(ptr);
-
-#endif // __ICEMEMORYMACROS_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains all memory macros. + * \file IceMemoryMacros.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEMEMORYMACROS_H__ +#define __ICEMEMORYMACROS_H__ + +#undef ZeroMemory +#undef CopyMemory +#undef MoveMemory +#undef FillMemory + + //! Clears a buffer. + //! \param addr [in] buffer address + //! \param size [in] buffer length + //! \see FillMemory + //! \see StoreDwords + //! \see CopyMemory + //! \see MoveMemory + inline_ void ZeroMemory(void* addr, udword size) { memset(addr, 0, size); } + + //! Fills a buffer with a given byte. + //! \param addr [in] buffer address + //! \param size [in] buffer length + //! \param val [in] the byte value + //! \see StoreDwords + //! \see ZeroMemory + //! \see CopyMemory + //! \see MoveMemory + inline_ void FillMemory(void* dest, udword size, ubyte val) { memset(dest, val, size); } + + //! Fills a buffer with a given dword. + //! \param addr [in] buffer address + //! \param nb [in] number of dwords to write + //! \param value [in] the dword value + //! \see FillMemory + //! \see ZeroMemory + //! \see CopyMemory + //! \see MoveMemory + //! \warning writes nb*4 bytes ! + inline_ void StoreDwords(udword* dest, udword nb, udword value) + { + while (nb--) *dest++ = value; + } + + //! Copies a buffer. + //! \param addr [in] destination buffer address + //! \param addr [in] source buffer address + //! \param size [in] buffer length + //! \see ZeroMemory + //! \see FillMemory + //! \see StoreDwords + //! \see MoveMemory + inline_ void CopyMemory(void* dest, const void* src, udword size) { memcpy(dest, src, size); } + + //! Moves a buffer. + //! \param addr [in] destination buffer address + //! \param addr [in] source buffer address + //! \param size [in] buffer length + //! \see ZeroMemory + //! \see FillMemory + //! \see StoreDwords + //! \see CopyMemory + inline_ void MoveMemory(void* dest, const void* src, udword size) { memmove(dest, src, size); } + + #define SIZEOFOBJECT sizeof(*this) //!< Gives the size of current object. Avoid some mistakes (e.g. "sizeof(this)"). + //#define CLEAROBJECT { memset(this, 0, SIZEOFOBJECT); } //!< Clears current object. Laziness is my business. HANDLE WITH CARE. + #define DELETESINGLE(x) if (x) { delete x; x = null; } //!< Deletes an instance of a class. + #define DELETEARRAY(x) if (x) { delete []x; x = null; } //!< Deletes an array. + #define SAFE_RELEASE(x) if (x) { (x)->Release(); (x) = null; } //!< Safe D3D-style release + #define SAFE_DESTRUCT(x) if (x) { (x)->SelfDestruct(); (x) = null; } //!< Safe ICE-style release + +#ifdef __ICEERROR_H__ + #define CHECKALLOC(x) if(!x) return SetIceError;; // ("Out of memory.", EC_OUT_OF_MEMORY); //!< Standard alloc checking. HANDLE WITH CARE. +#else + #define CHECKALLOC(x) if(!x) return false; +#endif + + //! Standard allocation cycle + #define SAFE_ALLOC(ptr, type, count) DELETEARRAY(ptr); ptr = new type[count]; CHECKALLOC(ptr); + +#endif // __ICEMEMORYMACROS_H__ diff --git a/Opcode/Ice/IceOBB.cpp b/Opcode/Ice/IceOBB.cpp index 2b1205b..ac9dbf7 100644 --- a/Opcode/Ice/IceOBB.cpp +++ b/Opcode/Ice/IceOBB.cpp @@ -1,323 +1,323 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains OBB-related code.
- * \file IceOBB.cpp
- * \author Pierre Terdiman
- * \date January, 29, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * An Oriented Bounding Box (OBB).
- * \class OBB
- * \author Pierre Terdiman
- * \version 1.0
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Tests if a point is contained within the OBB.
- * \param p [in] the world point to test
- * \return true if inside the OBB
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool OBB::ContainsPoint(const IcePoint& p) const
-{
- // IcePoint in OBB test using lazy evaluation and early exits
-
- // Translate to box space
- IcePoint RelPoint = p - mCenter;
-
- // IcePoint * mRot maps from box space to world space
- // mRot * IcePoint maps from world space to box space (what we need here)
-
- float f = mRot.m[0][0] * RelPoint.x + mRot.m[0][1] * RelPoint.y + mRot.m[0][2] * RelPoint.z;
- if(f >= mExtents.x || f <= -mExtents.x) return false;
-
- f = mRot.m[1][0] * RelPoint.x + mRot.m[1][1] * RelPoint.y + mRot.m[1][2] * RelPoint.z;
- if(f >= mExtents.y || f <= -mExtents.y) return false;
-
- f = mRot.m[2][0] * RelPoint.x + mRot.m[2][1] * RelPoint.y + mRot.m[2][2] * RelPoint.z;
- if(f >= mExtents.z || f <= -mExtents.z) return false;
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds an OBB from an AABB and a world transform.
- * \param aabb [in] the aabb
- * \param mat [in] the world transform
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void OBB::Create(const AABB& aabb, const Matrix4x4& mat)
-{
- // Note: must be coherent with Rotate()
-
- aabb.GetCenter(mCenter);
- aabb.GetExtents(mExtents);
- // Here we have the same as OBB::Rotate(mat) where the obb is (mCenter, mExtents, Identity).
-
- // So following what's done in Rotate:
- // - x-form the center
- mCenter *= mat;
- // - combine rotation with identity, i.e. just use given matrix
- mRot = mat;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the obb planes.
- * \param planes [out] 6 box planes
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool OBB::ComputePlanes(IcePlane* planes) const
-{
- // Checkings
- if(!planes) return false;
-
- IcePoint Axis0 = mRot[0];
- IcePoint Axis1 = mRot[1];
- IcePoint Axis2 = mRot[2];
-
- // Writes normals
- planes[0].n = Axis0;
- planes[1].n = -Axis0;
- planes[2].n = Axis1;
- planes[3].n = -Axis1;
- planes[4].n = Axis2;
- planes[5].n = -Axis2;
-
- // Compute a point on each plane
- IcePoint p0 = mCenter + Axis0 * mExtents.x;
- IcePoint p1 = mCenter - Axis0 * mExtents.x;
- IcePoint p2 = mCenter + Axis1 * mExtents.y;
- IcePoint p3 = mCenter - Axis1 * mExtents.y;
- IcePoint p4 = mCenter + Axis2 * mExtents.z;
- IcePoint p5 = mCenter - Axis2 * mExtents.z;
-
- // Compute d
- planes[0].d = -(planes[0].n|p0);
- planes[1].d = -(planes[1].n|p1);
- planes[2].d = -(planes[2].n|p2);
- planes[3].d = -(planes[3].n|p3);
- planes[4].d = -(planes[4].n|p4);
- planes[5].d = -(planes[5].n|p5);
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the obb points.
- * \param pts [out] 8 box points
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool OBB::ComputePoints(IcePoint* pts) const
-{
- // Checkings
- if(!pts) return false;
-
- IcePoint Axis0 = mRot[0];
- IcePoint Axis1 = mRot[1];
- IcePoint Axis2 = mRot[2];
-
- Axis0 *= mExtents.x;
- Axis1 *= mExtents.y;
- Axis2 *= mExtents.z;
-
- // 7+------+6 0 = ---
- // /| /| 1 = +--
- // / | / | 2 = ++-
- // / 4+---/--+5 3 = -+-
- // 3+------+2 / y z 4 = --+
- // | / | / | / 5 = +-+
- // |/ |/ |/ 6 = +++
- // 0+------+1 *---x 7 = -++
-
- pts[0] = mCenter - Axis0 - Axis1 - Axis2;
- pts[1] = mCenter + Axis0 - Axis1 - Axis2;
- pts[2] = mCenter + Axis0 + Axis1 - Axis2;
- pts[3] = mCenter - Axis0 + Axis1 - Axis2;
- pts[4] = mCenter - Axis0 - Axis1 + Axis2;
- pts[5] = mCenter + Axis0 - Axis1 + Axis2;
- pts[6] = mCenter + Axis0 + Axis1 + Axis2;
- pts[7] = mCenter - Axis0 + Axis1 + Axis2;
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes vertex normals.
- * \param pts [out] 8 box points
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool OBB::ComputeVertexNormals(IcePoint* pts) const
-{
- static float VertexNormals[] =
- {
- -INVSQRT3, -INVSQRT3, -INVSQRT3,
- INVSQRT3, -INVSQRT3, -INVSQRT3,
- INVSQRT3, INVSQRT3, -INVSQRT3,
- -INVSQRT3, INVSQRT3, -INVSQRT3,
- -INVSQRT3, -INVSQRT3, INVSQRT3,
- INVSQRT3, -INVSQRT3, INVSQRT3,
- INVSQRT3, INVSQRT3, INVSQRT3,
- -INVSQRT3, INVSQRT3, INVSQRT3
- };
-
- if(!pts) return false;
-
- const IcePoint* VN = (const IcePoint*)VertexNormals;
- for(udword i=0;i<8;i++)
- {
- pts[i] = VN[i] * mRot;
- }
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Returns edges.
- * \return 24 indices (12 edges) indexing the list returned by ComputePoints()
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const udword* OBB::GetEdges() const
-{
- static udword Indices[] = {
- 0, 1, 1, 2, 2, 3, 3, 0,
- 7, 6, 6, 5, 5, 4, 4, 7,
- 1, 5, 6, 2,
- 3, 7, 4, 0
- };
- return Indices;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Returns local edge normals.
- * \return edge normals in local space
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const IcePoint* OBB::GetLocalEdgeNormals() const
-{
- static float EdgeNormals[] =
- {
- 0, -INVSQRT2, -INVSQRT2, // 0-1
- INVSQRT2, 0, -INVSQRT2, // 1-2
- 0, INVSQRT2, -INVSQRT2, // 2-3
- -INVSQRT2, 0, -INVSQRT2, // 3-0
-
- 0, INVSQRT2, INVSQRT2, // 7-6
- INVSQRT2, 0, INVSQRT2, // 6-5
- 0, -INVSQRT2, INVSQRT2, // 5-4
- -INVSQRT2, 0, INVSQRT2, // 4-7
-
- INVSQRT2, -INVSQRT2, 0, // 1-5
- INVSQRT2, INVSQRT2, 0, // 6-2
- -INVSQRT2, INVSQRT2, 0, // 3-7
- -INVSQRT2, -INVSQRT2, 0 // 4-0
- };
- return (const IcePoint*)EdgeNormals;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Returns world edge normal
- * \param edge_index [in] 0 <= edge index < 12
- * \param world_normal [out] edge normal in world space
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void OBB::ComputeWorldEdgeNormal(udword edge_index, IcePoint& world_normal) const
-{
- ASSERT(edge_index<12);
- world_normal = GetLocalEdgeNormals()[edge_index] * mRot;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes an LSS surrounding the OBB.
- * \param lss [out] the LSS
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void OBB::ComputeLSS(LSS& lss) const
-{
- IcePoint Axis0 = mRot[0];
- IcePoint Axis1 = mRot[1];
- IcePoint Axis2 = mRot[2];
-
- switch(mExtents.LargestAxis())
- {
- case 0:
- lss.mRadius = (mExtents.y + mExtents.z)*0.5f;
- lss.mP0 = mCenter + Axis0 * (mExtents.x - lss.mRadius);
- lss.mP1 = mCenter - Axis0 * (mExtents.x - lss.mRadius);
- break;
- case 1:
- lss.mRadius = (mExtents.x + mExtents.z)*0.5f;
- lss.mP0 = mCenter + Axis1 * (mExtents.y - lss.mRadius);
- lss.mP1 = mCenter - Axis1 * (mExtents.y - lss.mRadius);
- break;
- case 2:
- lss.mRadius = (mExtents.x + mExtents.y)*0.5f;
- lss.mP0 = mCenter + Axis2 * (mExtents.z - lss.mRadius);
- lss.mP1 = mCenter - Axis2 * (mExtents.z - lss.mRadius);
- break;
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks the OBB is inside another OBB.
- * \param box [in] the other OBB
- * \return TRUE if we're inside the other box
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-BOOL OBB::IsInside(const OBB& box) const
-{
- // Make a 4x4 from the box & inverse it
- Matrix4x4 M0Inv;
- {
- Matrix4x4 M0 = box.mRot;
- M0.SetTrans(box.mCenter);
- InvertPRMatrix(M0Inv, M0);
- }
-
- // With our inversed 4x4, create box1 in space of box0
- OBB _1in0;
- Rotate(M0Inv, _1in0);
-
- // This should cancel out box0's rotation, i.e. it's now an AABB.
- // => Center(0,0,0), Rot(identity)
-
- // The two boxes are in the same space so now we can compare them.
-
- // Create the AABB of (box1 in space of box0)
- const Matrix3x3& mtx = _1in0.mRot;
-
- float f = fabsf(mtx.m[0][0] * mExtents.x) + fabsf(mtx.m[1][0] * mExtents.y) + fabsf(mtx.m[2][0] * mExtents.z) - box.mExtents.x;
- if(f > _1in0.mCenter.x) return FALSE;
- if(-f < _1in0.mCenter.x) return FALSE;
-
- f = fabsf(mtx.m[0][1] * mExtents.x) + fabsf(mtx.m[1][1] * mExtents.y) + fabsf(mtx.m[2][1] * mExtents.z) - box.mExtents.y;
- if(f > _1in0.mCenter.y) return FALSE;
- if(-f < _1in0.mCenter.y) return FALSE;
-
- f = fabsf(mtx.m[0][2] * mExtents.x) + fabsf(mtx.m[1][2] * mExtents.y) + fabsf(mtx.m[2][2] * mExtents.z) - box.mExtents.z;
- if(f > _1in0.mCenter.z) return FALSE;
- if(-f < _1in0.mCenter.z) return FALSE;
-
- return TRUE;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains OBB-related code. + * \file IceOBB.cpp + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * An Oriented Bounding Box (OBB). + * \class OBB + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Tests if a point is contained within the OBB. + * \param p [in] the world point to test + * \return true if inside the OBB + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool OBB::ContainsPoint(const IcePoint& p) const +{ + // IcePoint in OBB test using lazy evaluation and early exits + + // Translate to box space + IcePoint RelPoint = p - mCenter; + + // IcePoint * mRot maps from box space to world space + // mRot * IcePoint maps from world space to box space (what we need here) + + float f = mRot.m[0][0] * RelPoint.x + mRot.m[0][1] * RelPoint.y + mRot.m[0][2] * RelPoint.z; + if(f >= mExtents.x || f <= -mExtents.x) return false; + + f = mRot.m[1][0] * RelPoint.x + mRot.m[1][1] * RelPoint.y + mRot.m[1][2] * RelPoint.z; + if(f >= mExtents.y || f <= -mExtents.y) return false; + + f = mRot.m[2][0] * RelPoint.x + mRot.m[2][1] * RelPoint.y + mRot.m[2][2] * RelPoint.z; + if(f >= mExtents.z || f <= -mExtents.z) return false; + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds an OBB from an AABB and a world transform. + * \param aabb [in] the aabb + * \param mat [in] the world transform + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void OBB::Create(const AABB& aabb, const Matrix4x4& mat) +{ + // Note: must be coherent with Rotate() + + aabb.GetCenter(mCenter); + aabb.GetExtents(mExtents); + // Here we have the same as OBB::Rotate(mat) where the obb is (mCenter, mExtents, Identity). + + // So following what's done in Rotate: + // - x-form the center + mCenter *= mat; + // - combine rotation with identity, i.e. just use given matrix + mRot = mat; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the obb planes. + * \param planes [out] 6 box planes + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool OBB::ComputePlanes(IcePlane* planes) const +{ + // Checkings + if(!planes) return false; + + IcePoint Axis0 = mRot[0]; + IcePoint Axis1 = mRot[1]; + IcePoint Axis2 = mRot[2]; + + // Writes normals + planes[0].n = Axis0; + planes[1].n = -Axis0; + planes[2].n = Axis1; + planes[3].n = -Axis1; + planes[4].n = Axis2; + planes[5].n = -Axis2; + + // Compute a point on each plane + IcePoint p0 = mCenter + Axis0 * mExtents.x; + IcePoint p1 = mCenter - Axis0 * mExtents.x; + IcePoint p2 = mCenter + Axis1 * mExtents.y; + IcePoint p3 = mCenter - Axis1 * mExtents.y; + IcePoint p4 = mCenter + Axis2 * mExtents.z; + IcePoint p5 = mCenter - Axis2 * mExtents.z; + + // Compute d + planes[0].d = -(planes[0].n|p0); + planes[1].d = -(planes[1].n|p1); + planes[2].d = -(planes[2].n|p2); + planes[3].d = -(planes[3].n|p3); + planes[4].d = -(planes[4].n|p4); + planes[5].d = -(planes[5].n|p5); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the obb points. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool OBB::ComputePoints(IcePoint* pts) const +{ + // Checkings + if(!pts) return false; + + IcePoint Axis0 = mRot[0]; + IcePoint Axis1 = mRot[1]; + IcePoint Axis2 = mRot[2]; + + Axis0 *= mExtents.x; + Axis1 *= mExtents.y; + Axis2 *= mExtents.z; + + // 7+------+6 0 = --- + // /| /| 1 = +-- + // / | / | 2 = ++- + // / 4+---/--+5 3 = -+- + // 3+------+2 / y z 4 = --+ + // | / | / | / 5 = +-+ + // |/ |/ |/ 6 = +++ + // 0+------+1 *---x 7 = -++ + + pts[0] = mCenter - Axis0 - Axis1 - Axis2; + pts[1] = mCenter + Axis0 - Axis1 - Axis2; + pts[2] = mCenter + Axis0 + Axis1 - Axis2; + pts[3] = mCenter - Axis0 + Axis1 - Axis2; + pts[4] = mCenter - Axis0 - Axis1 + Axis2; + pts[5] = mCenter + Axis0 - Axis1 + Axis2; + pts[6] = mCenter + Axis0 + Axis1 + Axis2; + pts[7] = mCenter - Axis0 + Axis1 + Axis2; + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes vertex normals. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool OBB::ComputeVertexNormals(IcePoint* pts) const +{ + static float VertexNormals[] = + { + -INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, INVSQRT3, INVSQRT3, + -INVSQRT3, INVSQRT3, INVSQRT3 + }; + + if(!pts) return false; + + const IcePoint* VN = (const IcePoint*)VertexNormals; + for(udword i=0;i<8;i++) + { + pts[i] = VN[i] * mRot; + } + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns edges. + * \return 24 indices (12 edges) indexing the list returned by ComputePoints() + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const udword* OBB::GetEdges() const +{ + static udword Indices[] = { + 0, 1, 1, 2, 2, 3, 3, 0, + 7, 6, 6, 5, 5, 4, 4, 7, + 1, 5, 6, 2, + 3, 7, 4, 0 + }; + return Indices; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns local edge normals. + * \return edge normals in local space + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const IcePoint* OBB::GetLocalEdgeNormals() const +{ + static float EdgeNormals[] = + { + 0, -INVSQRT2, -INVSQRT2, // 0-1 + INVSQRT2, 0, -INVSQRT2, // 1-2 + 0, INVSQRT2, -INVSQRT2, // 2-3 + -INVSQRT2, 0, -INVSQRT2, // 3-0 + + 0, INVSQRT2, INVSQRT2, // 7-6 + INVSQRT2, 0, INVSQRT2, // 6-5 + 0, -INVSQRT2, INVSQRT2, // 5-4 + -INVSQRT2, 0, INVSQRT2, // 4-7 + + INVSQRT2, -INVSQRT2, 0, // 1-5 + INVSQRT2, INVSQRT2, 0, // 6-2 + -INVSQRT2, INVSQRT2, 0, // 3-7 + -INVSQRT2, -INVSQRT2, 0 // 4-0 + }; + return (const IcePoint*)EdgeNormals; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns world edge normal + * \param edge_index [in] 0 <= edge index < 12 + * \param world_normal [out] edge normal in world space + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void OBB::ComputeWorldEdgeNormal(udword edge_index, IcePoint& world_normal) const +{ + ASSERT(edge_index<12); + world_normal = GetLocalEdgeNormals()[edge_index] * mRot; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes an LSS surrounding the OBB. + * \param lss [out] the LSS + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void OBB::ComputeLSS(LSS& lss) const +{ + IcePoint Axis0 = mRot[0]; + IcePoint Axis1 = mRot[1]; + IcePoint Axis2 = mRot[2]; + + switch(mExtents.LargestAxis()) + { + case 0: + lss.mRadius = (mExtents.y + mExtents.z)*0.5f; + lss.mP0 = mCenter + Axis0 * (mExtents.x - lss.mRadius); + lss.mP1 = mCenter - Axis0 * (mExtents.x - lss.mRadius); + break; + case 1: + lss.mRadius = (mExtents.x + mExtents.z)*0.5f; + lss.mP0 = mCenter + Axis1 * (mExtents.y - lss.mRadius); + lss.mP1 = mCenter - Axis1 * (mExtents.y - lss.mRadius); + break; + case 2: + lss.mRadius = (mExtents.x + mExtents.y)*0.5f; + lss.mP0 = mCenter + Axis2 * (mExtents.z - lss.mRadius); + lss.mP1 = mCenter - Axis2 * (mExtents.z - lss.mRadius); + break; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the OBB is inside another OBB. + * \param box [in] the other OBB + * \return TRUE if we're inside the other box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL OBB::IsInside(const OBB& box) const +{ + // Make a 4x4 from the box & inverse it + Matrix4x4 M0Inv; + { + Matrix4x4 M0 = box.mRot; + M0.SetTrans(box.mCenter); + InvertPRMatrix(M0Inv, M0); + } + + // With our inversed 4x4, create box1 in space of box0 + OBB _1in0; + Rotate(M0Inv, _1in0); + + // This should cancel out box0's rotation, i.e. it's now an AABB. + // => Center(0,0,0), Rot(identity) + + // The two boxes are in the same space so now we can compare them. + + // Create the AABB of (box1 in space of box0) + const Matrix3x3& mtx = _1in0.mRot; + + float f = fabsf(mtx.m[0][0] * mExtents.x) + fabsf(mtx.m[1][0] * mExtents.y) + fabsf(mtx.m[2][0] * mExtents.z) - box.mExtents.x; + if(f > _1in0.mCenter.x) return FALSE; + if(-f < _1in0.mCenter.x) return FALSE; + + f = fabsf(mtx.m[0][1] * mExtents.x) + fabsf(mtx.m[1][1] * mExtents.y) + fabsf(mtx.m[2][1] * mExtents.z) - box.mExtents.y; + if(f > _1in0.mCenter.y) return FALSE; + if(-f < _1in0.mCenter.y) return FALSE; + + f = fabsf(mtx.m[0][2] * mExtents.x) + fabsf(mtx.m[1][2] * mExtents.y) + fabsf(mtx.m[2][2] * mExtents.z) - box.mExtents.z; + if(f > _1in0.mCenter.z) return FALSE; + if(-f < _1in0.mCenter.z) return FALSE; + + return TRUE; +} diff --git a/Opcode/Ice/IceOBB.h b/Opcode/Ice/IceOBB.h index 9c1711d..c55c2d5 100644 --- a/Opcode/Ice/IceOBB.h +++ b/Opcode/Ice/IceOBB.h @@ -1,177 +1,177 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains OBB-related code. (oriented bounding box)
- * \file IceOBB.h
- * \author Pierre Terdiman
- * \date January, 13, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEOBB_H__
-#define __ICEOBB_H__
-
- // Forward declarations
- class LSS;
-
- class ICEMATHS_API OBB
- {
- public:
- //! Constructor
- inline_ OBB() {}
- //! Constructor
- inline_ OBB(const IcePoint& center, const IcePoint& extents, const Matrix3x3& rot) : mCenter(center), mExtents(extents), mRot(rot) {}
- //! Destructor
- inline_ ~OBB() {}
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups an empty OBB.
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void SetEmpty()
- {
- mCenter.Zero();
- mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT);
- mRot.Identity();
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Tests if a IcePoint is contained within the OBB.
- * \param p [in] the world IcePoint to test
- * \return true if inside the OBB
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool ContainsPoint(const IcePoint& p) const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Builds an OBB from an AABB and a world transform.
- * \param aabb [in] the aabb
- * \param mat [in] the world transform
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void Create(const AABB& aabb, const Matrix4x4& mat);
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Recomputes the OBB after an arbitrary transform by a 4x4 matrix.
- * \param mtx [in] the transform matrix
- * \param obb [out] the transformed OBB
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void Rotate(const Matrix4x4& mtx, OBB& obb) const
- {
- // The extents remain constant
- obb.mExtents = mExtents;
- // The center gets x-formed
- obb.mCenter = mCenter * mtx;
- // Combine rotations
- obb.mRot = mRot * Matrix3x3(mtx);
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks the OBB is valid.
- * \return true if the box is valid
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL IsValid() const
- {
- // Consistency condition for (Center, Extents) boxes: Extents >= 0.0f
- if(mExtents.x < 0.0f) return FALSE;
- if(mExtents.y < 0.0f) return FALSE;
- if(mExtents.z < 0.0f) return FALSE;
- return TRUE;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes the obb planes.
- * \param planes [out] 6 box planes
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool ComputePlanes(IcePlane* planes) const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes the obb points.
- * \param pts [out] 8 box points
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool ComputePoints(IcePoint* pts) const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes vertex normals.
- * \param pts [out] 8 box points
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool ComputeVertexNormals(IcePoint* pts) const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Returns edges.
- * \return 24 indices (12 edges) indexing the list returned by ComputePoints()
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- const udword* GetEdges() const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Returns local edge normals.
- * \return edge normals in local space
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- const IcePoint* GetLocalEdgeNormals() const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Returns world edge normal
- * \param edge_index [in] 0 <= edge index < 12
- * \param world_normal [out] edge normal in world space
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void ComputeWorldEdgeNormal(udword edge_index, IcePoint& world_normal) const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes an LSS surrounding the OBB.
- * \param lss [out] the LSS
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- void ComputeLSS(LSS& lss) const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks the OBB is inside another OBB.
- * \param box [in] the other OBB
- * \return TRUE if we're inside the other box
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- BOOL IsInside(const OBB& box) const;
-
- inline_ const IcePoint& GetCenter() const { return mCenter; }
- inline_ const IcePoint& GetExtents() const { return mExtents; }
- inline_ const Matrix3x3& GetRot() const { return mRot; }
-
- inline_ void GetRotatedExtents(Matrix3x3& extents) const
- {
- extents = mRot;
- extents.Scale(mExtents);
- }
-
- IcePoint mCenter; //!< B for Box
- IcePoint mExtents; //!< B for Bounding
- Matrix3x3 mRot; //!< O for Oriented
-
- // Orientation is stored in row-major format,
- // i.e. rows = eigen vectors of the covariance matrix
- };
-
-#endif // __ICEOBB_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains OBB-related code. (oriented bounding box) + * \file IceOBB.h + * \author Pierre Terdiman + * \date January, 13, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEOBB_H__ +#define __ICEOBB_H__ + + // Forward declarations + class LSS; + + class ICEMATHS_API OBB + { + public: + //! Constructor + inline_ OBB() {} + //! Constructor + inline_ OBB(const IcePoint& center, const IcePoint& extents, const Matrix3x3& rot) : mCenter(center), mExtents(extents), mRot(rot) {} + //! Destructor + inline_ ~OBB() {} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an empty OBB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetEmpty() + { + mCenter.Zero(); + mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); + mRot.Identity(); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a IcePoint is contained within the OBB. + * \param p [in] the world IcePoint to test + * \return true if inside the OBB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool ContainsPoint(const IcePoint& p) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds an OBB from an AABB and a world transform. + * \param aabb [in] the aabb + * \param mat [in] the world transform + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void Create(const AABB& aabb, const Matrix4x4& mat); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Recomputes the OBB after an arbitrary transform by a 4x4 matrix. + * \param mtx [in] the transform matrix + * \param obb [out] the transformed OBB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void Rotate(const Matrix4x4& mtx, OBB& obb) const + { + // The extents remain constant + obb.mExtents = mExtents; + // The center gets x-formed + obb.mCenter = mCenter * mtx; + // Combine rotations + obb.mRot = mRot * Matrix3x3(mtx); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the OBB is valid. + * \return true if the box is valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsValid() const + { + // Consistency condition for (Center, Extents) boxes: Extents >= 0.0f + if(mExtents.x < 0.0f) return FALSE; + if(mExtents.y < 0.0f) return FALSE; + if(mExtents.z < 0.0f) return FALSE; + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the obb planes. + * \param planes [out] 6 box planes + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool ComputePlanes(IcePlane* planes) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the obb points. + * \param pts [out] 8 box points + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool ComputePoints(IcePoint* pts) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes vertex normals. + * \param pts [out] 8 box points + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool ComputeVertexNormals(IcePoint* pts) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Returns edges. + * \return 24 indices (12 edges) indexing the list returned by ComputePoints() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + const udword* GetEdges() const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Returns local edge normals. + * \return edge normals in local space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + const IcePoint* GetLocalEdgeNormals() const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Returns world edge normal + * \param edge_index [in] 0 <= edge index < 12 + * \param world_normal [out] edge normal in world space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void ComputeWorldEdgeNormal(udword edge_index, IcePoint& world_normal) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes an LSS surrounding the OBB. + * \param lss [out] the LSS + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void ComputeLSS(LSS& lss) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the OBB is inside another OBB. + * \param box [in] the other OBB + * \return TRUE if we're inside the other box + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + BOOL IsInside(const OBB& box) const; + + inline_ const IcePoint& GetCenter() const { return mCenter; } + inline_ const IcePoint& GetExtents() const { return mExtents; } + inline_ const Matrix3x3& GetRot() const { return mRot; } + + inline_ void GetRotatedExtents(Matrix3x3& extents) const + { + extents = mRot; + extents.Scale(mExtents); + } + + IcePoint mCenter; //!< B for Box + IcePoint mExtents; //!< B for Bounding + Matrix3x3 mRot; //!< O for Oriented + + // Orientation is stored in row-major format, + // i.e. rows = eigen vectors of the covariance matrix + }; + +#endif // __ICEOBB_H__ diff --git a/Opcode/Ice/IcePairs.h b/Opcode/Ice/IcePairs.h index 35e3a07..2c09b92 100644 --- a/Opcode/Ice/IcePairs.h +++ b/Opcode/Ice/IcePairs.h @@ -1,45 +1,45 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a simple pair class.
- * \file IcePairs.h
- * \author Pierre Terdiman
- * \date January, 13, 2003
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEPAIRS_H__
-#define __ICEPAIRS_H__
-
- //! A generic couple structure
- struct ICECORE_API Pair
- {
- inline_ Pair() {}
- inline_ Pair(udword i0, udword i1) : id0(i0), id1(i1) {}
-
- udword id0; //!< First index of the pair
- udword id1; //!< Second index of the pair
- };
-
- class ICECORE_API Pairs : private Container
- {
- public:
- // Constructor / Destructor
- Pairs() {}
- ~Pairs() {}
-
- inline_ udword GetNbPairs() const { return GetNbEntries()>>1; }
- inline_ const Pair* GetPairs() const { return (const Pair*)GetEntries(); }
- inline_ const Pair* GetPair(udword i) const { return (const Pair*)&GetEntries()[i+i]; }
-
- inline_ BOOL HasPairs() const { return IsNotEmpty(); }
-
- inline_ void ResetPairs() { Reset(); }
- inline_ void DeleteLastPair() { DeleteLastEntry(); DeleteLastEntry(); }
-
- inline_ void AddPair(const Pair& p) { Add(p.id0).Add(p.id1); }
- inline_ void AddPair(udword id0, udword id1) { Add(id0).Add(id1); }
- };
-
-#endif // __ICEPAIRS_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a simple pair class. + * \file IcePairs.h + * \author Pierre Terdiman + * \date January, 13, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEPAIRS_H__ +#define __ICEPAIRS_H__ + + //! A generic couple structure + struct ICECORE_API Pair + { + inline_ Pair() {} + inline_ Pair(udword i0, udword i1) : id0(i0), id1(i1) {} + + udword id0; //!< First index of the pair + udword id1; //!< Second index of the pair + }; + + class ICECORE_API Pairs : private Container + { + public: + // Constructor / Destructor + Pairs() {} + ~Pairs() {} + + inline_ udword GetNbPairs() const { return GetNbEntries()>>1; } + inline_ const Pair* GetPairs() const { return (const Pair*)GetEntries(); } + inline_ const Pair* GetPair(udword i) const { return (const Pair*)&GetEntries()[i+i]; } + + inline_ BOOL HasPairs() const { return IsNotEmpty(); } + + inline_ void ResetPairs() { Reset(); } + inline_ void DeleteLastPair() { DeleteLastEntry(); DeleteLastEntry(); } + + inline_ void AddPair(const Pair& p) { Add(p.id0).Add(p.id1); } + inline_ void AddPair(udword id0, udword id1) { Add(id0).Add(id1); } + }; + +#endif // __ICEPAIRS_H__ diff --git a/Opcode/Ice/IcePlane.cpp b/Opcode/Ice/IcePlane.cpp index 613e4a5..f198843 100644 --- a/Opcode/Ice/IcePlane.cpp +++ b/Opcode/Ice/IcePlane.cpp @@ -1,45 +1,45 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for planes.
- * \file IcePlane.cpp
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * IcePlane class.
- * \class IcePlane
- * \author Pierre Terdiman
- * \version 1.0
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the plane equation from 3 points.
- * \param p0 [in] first IcePoint
- * \param p1 [in] second IcePoint
- * \param p2 [in] third IcePoint
- * \return Self-reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-IcePlane& IcePlane::Set(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2)
-{
- IcePoint Edge0 = p1 - p0;
- IcePoint Edge1 = p2 - p0;
-
- n = Edge0 ^ Edge1;
- n.Normalize();
-
- d = -(p0 | n);
-
- return *this;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for planes. + * \file IcePlane.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * IcePlane class. + * \class IcePlane + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the plane equation from 3 points. + * \param p0 [in] first IcePoint + * \param p1 [in] second IcePoint + * \param p2 [in] third IcePoint + * \return Self-reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +IcePlane& IcePlane::Set(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2) +{ + IcePoint Edge0 = p1 - p0; + IcePoint Edge1 = p2 - p0; + + n = Edge0 ^ Edge1; + n.Normalize(); + + d = -(p0 | n); + + return *this; +} diff --git a/Opcode/Ice/IcePlane.h b/Opcode/Ice/IcePlane.h index 1a447ce..5c93b90 100644 --- a/Opcode/Ice/IcePlane.h +++ b/Opcode/Ice/IcePlane.h @@ -1,113 +1,113 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for planes.
- * \file IcePlane.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEPLANE_H__
-#define __ICEPLANE_H__
-
- #define PLANE_EPSILON (1.0e-7f)
-
- class ICEMATHS_API IcePlane
- {
- public:
- //! Constructor
- inline_ IcePlane() { }
- //! Constructor from a normal and a distance
- inline_ IcePlane(float nx, float ny, float nz, float d) { Set(nx, ny, nz, d); }
- //! Constructor from a point on the plane and a normal
- inline_ IcePlane(const IcePoint& p, const IcePoint& n) { Set(p, n); }
- //! Constructor from three points
- inline_ IcePlane(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2) { Set(p0, p1, p2); }
- //! Constructor from a normal and a distance
- inline_ IcePlane(const IcePoint& _n, float _d) { n = _n; d = _d; }
- //! Copy constructor
- inline_ IcePlane(const IcePlane& plane) : n(plane.n), d(plane.d) { }
- //! Destructor
- inline_ ~IcePlane() { }
-
- inline_ IcePlane& Zero() { n.Zero(); d = 0.0f; return *this; }
- inline_ IcePlane& Set(float nx, float ny, float nz, float _d) { n.Set(nx, ny, nz); d = _d; return *this; }
- inline_ IcePlane& Set(const IcePoint& p, const IcePoint& _n) { n = _n; d = - p | _n; return *this; }
- IcePlane& Set(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2);
-
- inline_ float Distance(const IcePoint& p) const { return (p | n) + d; }
- inline_ bool Belongs(const IcePoint& p) const { return fabsf(Distance(p)) < PLANE_EPSILON; }
-
- inline_ void Normalize()
- {
- float Denom = 1.0f / n.Magnitude();
- n.x *= Denom;
- n.y *= Denom;
- n.z *= Denom;
- d *= Denom;
- }
- public:
- // Members
- IcePoint n; //!< The normal to the plane
- float d; //!< The distance from the origin
-
- // Cast operators
- inline_ operator IcePoint() const { return n; }
- inline_ operator HPoint() const { return HPoint(n, d); }
-
- // Arithmetic operators
- inline_ IcePlane operator*(const Matrix4x4& m) const
- {
- // Old code from Irion. Kept for reference.
- IcePlane Ret(*this);
- return Ret *= m;
- }
-
- inline_ IcePlane& operator*=(const Matrix4x4& m)
- {
- // Old code from Irion. Kept for reference.
- IcePoint n2 = HPoint(n, 0.0f) * m;
- d = -((IcePoint) (HPoint( -d*n, 1.0f ) * m) | n2);
- n = n2;
- return *this;
- }
- };
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Transforms a plane by a 4x4 matrix. Same as IcePlane * Matrix4x4 operator, but faster.
- * \param transformed [out] transformed plane
- * \param plane [in] source plane
- * \param transform [in] transform matrix
- * \warning the plane normal must be unit-length
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void TransformPlane(IcePlane& transformed, const IcePlane& plane, const Matrix4x4& transform)
- {
- // Rotate the normal using the rotation part of the 4x4 matrix
- transformed.n = plane.n * Matrix3x3(transform);
-
- // Compute new d
- transformed.d = plane.d - (IcePoint(transform.GetTrans())|transformed.n);
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Transforms a plane by a 4x4 matrix. Same as IcePlane * Matrix4x4 operator, but faster.
- * \param plane [in/out] source plane (transformed on return)
- * \param transform [in] transform matrix
- * \warning the plane normal must be unit-length
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void TransformPlane(IcePlane& plane, const Matrix4x4& transform)
- {
- // Rotate the normal using the rotation part of the 4x4 matrix
- plane.n *= Matrix3x3(transform);
-
- // Compute new d
- plane.d -= IcePoint(transform.GetTrans())|plane.n;
- }
-
-#endif // __ICEPLANE_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for planes. + * \file IcePlane.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEPLANE_H__ +#define __ICEPLANE_H__ + + #define PLANE_EPSILON (1.0e-7f) + + class ICEMATHS_API IcePlane + { + public: + //! Constructor + inline_ IcePlane() { } + //! Constructor from a normal and a distance + inline_ IcePlane(float nx, float ny, float nz, float d) { Set(nx, ny, nz, d); } + //! Constructor from a point on the plane and a normal + inline_ IcePlane(const IcePoint& p, const IcePoint& n) { Set(p, n); } + //! Constructor from three points + inline_ IcePlane(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2) { Set(p0, p1, p2); } + //! Constructor from a normal and a distance + inline_ IcePlane(const IcePoint& _n, float _d) { n = _n; d = _d; } + //! Copy constructor + inline_ IcePlane(const IcePlane& plane) : n(plane.n), d(plane.d) { } + //! Destructor + inline_ ~IcePlane() { } + + inline_ IcePlane& Zero() { n.Zero(); d = 0.0f; return *this; } + inline_ IcePlane& Set(float nx, float ny, float nz, float _d) { n.Set(nx, ny, nz); d = _d; return *this; } + inline_ IcePlane& Set(const IcePoint& p, const IcePoint& _n) { n = _n; d = - p | _n; return *this; } + IcePlane& Set(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2); + + inline_ float Distance(const IcePoint& p) const { return (p | n) + d; } + inline_ bool Belongs(const IcePoint& p) const { return fabsf(Distance(p)) < PLANE_EPSILON; } + + inline_ void Normalize() + { + float Denom = 1.0f / n.Magnitude(); + n.x *= Denom; + n.y *= Denom; + n.z *= Denom; + d *= Denom; + } + public: + // Members + IcePoint n; //!< The normal to the plane + float d; //!< The distance from the origin + + // Cast operators + inline_ operator IcePoint() const { return n; } + inline_ operator HPoint() const { return HPoint(n, d); } + + // Arithmetic operators + inline_ IcePlane operator*(const Matrix4x4& m) const + { + // Old code from Irion. Kept for reference. + IcePlane Ret(*this); + return Ret *= m; + } + + inline_ IcePlane& operator*=(const Matrix4x4& m) + { + // Old code from Irion. Kept for reference. + IcePoint n2 = HPoint(n, 0.0f) * m; + d = -((IcePoint) (HPoint( -d*n, 1.0f ) * m) | n2); + n = n2; + return *this; + } + }; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a plane by a 4x4 matrix. Same as IcePlane * Matrix4x4 operator, but faster. + * \param transformed [out] transformed plane + * \param plane [in] source plane + * \param transform [in] transform matrix + * \warning the plane normal must be unit-length + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void TransformPlane(IcePlane& transformed, const IcePlane& plane, const Matrix4x4& transform) + { + // Rotate the normal using the rotation part of the 4x4 matrix + transformed.n = plane.n * Matrix3x3(transform); + + // Compute new d + transformed.d = plane.d - (IcePoint(transform.GetTrans())|transformed.n); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a plane by a 4x4 matrix. Same as IcePlane * Matrix4x4 operator, but faster. + * \param plane [in/out] source plane (transformed on return) + * \param transform [in] transform matrix + * \warning the plane normal must be unit-length + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void TransformPlane(IcePlane& plane, const Matrix4x4& transform) + { + // Rotate the normal using the rotation part of the 4x4 matrix + plane.n *= Matrix3x3(transform); + + // Compute new d + plane.d -= IcePoint(transform.GetTrans())|plane.n; + } + +#endif // __ICEPLANE_H__ diff --git a/Opcode/Ice/IcePoint.cpp b/Opcode/Ice/IcePoint.cpp index 5dc35fe..616b08c 100644 --- a/Opcode/Ice/IcePoint.cpp +++ b/Opcode/Ice/IcePoint.cpp @@ -1,193 +1,193 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for 3D vectors.
- * \file IcePoint.cpp
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * 3D point.
- *
- * The name is "Point" instead of "Vector" since a vector is N-dimensional, whereas a point is an implicit "vector of dimension 3".
- * So the choice was between "Point" and "Vector3", the first one looked better (IMHO).
- *
- * Some people, then, use a typedef to handle both points & vectors using the same class: typedef Point Vector3;
- * This is bad since it opens the door to a lot of confusion while reading the code. I know it may sounds weird but check this out:
- *
- * \code
- * Point P0,P1 = some 3D points;
- * Point Delta = P1 - P0;
- * \endcode
- *
- * This compiles fine, although you should have written:
- *
- * \code
- * Point P0,P1 = some 3D points;
- * Vector3 Delta = P1 - P0;
- * \endcode
- *
- * Subtle things like this are not caught at compile-time, and when you find one in the code, you never know whether it's a mistake
- * from the author or something you don't get.
- *
- * One way to handle it at compile-time would be to use different classes for Point & Vector3, only overloading operator "-" for vectors.
- * But then, you get a lot of redundant code in thoses classes, and basically it's really a lot of useless work.
- *
- * Another way would be to use homogeneous points: w=1 for points, w=0 for vectors. That's why the HPoint class exists. Now, to store
- * your model's vertices and in most cases, you really want to use Points to save ram.
- *
- * \class Point
- * \author Pierre Terdiman
- * \version 1.0
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Creates a positive unit random vector.
- * \return Self-reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-IcePoint& IcePoint::PositiveUnitRandomVector()
-{
- x = UnitRandomFloat();
- y = UnitRandomFloat();
- z = UnitRandomFloat();
- Normalize();
- return *this;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Creates a unit random vector.
- * \return Self-reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-IcePoint& IcePoint::UnitRandomVector()
-{
- x = UnitRandomFloat() - 0.5f;
- y = UnitRandomFloat() - 0.5f;
- z = UnitRandomFloat() - 0.5f;
- Normalize();
- return *this;
-}
-
-// Cast operator
-// WARNING: not inlined
-IcePoint::operator HPoint() const { return HPoint(x, y, z, 0.0f); }
-
-IcePoint& IcePoint::Refract(const IcePoint& eye, const IcePoint& n, float refractindex, IcePoint& refracted)
-{
- // IcePoint EyePt = eye position
- // IcePoint p = current vertex
- // IcePoint n = vertex normal
- // IcePoint rv = refracted vector
- // Eye vector - doesn't need to be normalized
- IcePoint Env;
- Env.x = eye.x - x;
- Env.y = eye.y - y;
- Env.z = eye.z - z;
-
- float NDotE = n|Env;
- float NDotN = n|n;
- NDotE /= refractindex;
-
- // Refracted vector
- refracted = n*NDotE - Env*NDotN;
-
- return *this;
-}
-
-IcePoint& IcePoint::ProjectToPlane(const IcePlane& p)
-{
- *this-= (p.d + (*this|p.n))*p.n;
- return *this;
-}
-
-void IcePoint::ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const
-{
- projected = HPoint(x, y, z, 1.0f) * mat;
- projected.w = 1.0f / projected.w;
-
- projected.x*=projected.w;
- projected.y*=projected.w;
- projected.z*=projected.w;
-
- projected.x *= halfrenderwidth; projected.x += halfrenderwidth;
- projected.y *= -halfrenderheight; projected.y += halfrenderheight;
-}
-
-void IcePoint::SetNotUsed()
-{
- // We use a particular integer pattern : 0xffffffff everywhere. This is a NAN.
- IR(x) = 0xffffffff;
- IR(y) = 0xffffffff;
- IR(z) = 0xffffffff;
-}
-
-BOOL IcePoint::IsNotUsed() const
-{
- if(IR(x)!=0xffffffff) return FALSE;
- if(IR(y)!=0xffffffff) return FALSE;
- if(IR(z)!=0xffffffff) return FALSE;
- return TRUE;
-}
-
-IcePoint& IcePoint::Mult(const Matrix3x3& mat, const IcePoint& a)
-{
- x = a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2];
- y = a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2];
- z = a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2];
- return *this;
-}
-
-IcePoint& IcePoint::Mult2(const Matrix3x3& mat1, const IcePoint& a1, const Matrix3x3& mat2, const IcePoint& a2)
-{
- x = a1.x * mat1.m[0][0] + a1.y * mat1.m[0][1] + a1.z * mat1.m[0][2] + a2.x * mat2.m[0][0] + a2.y * mat2.m[0][1] + a2.z * mat2.m[0][2];
- y = a1.x * mat1.m[1][0] + a1.y * mat1.m[1][1] + a1.z * mat1.m[1][2] + a2.x * mat2.m[1][0] + a2.y * mat2.m[1][1] + a2.z * mat2.m[1][2];
- z = a1.x * mat1.m[2][0] + a1.y * mat1.m[2][1] + a1.z * mat1.m[2][2] + a2.x * mat2.m[2][0] + a2.y * mat2.m[2][1] + a2.z * mat2.m[2][2];
- return *this;
-}
-
-IcePoint& IcePoint::Mac(const Matrix3x3& mat, const IcePoint& a)
-{
- x += a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2];
- y += a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2];
- z += a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2];
- return *this;
-}
-
-IcePoint& IcePoint::TransMult(const Matrix3x3& mat, const IcePoint& a)
-{
- x = a.x * mat.m[0][0] + a.y * mat.m[1][0] + a.z * mat.m[2][0];
- y = a.x * mat.m[0][1] + a.y * mat.m[1][1] + a.z * mat.m[2][1];
- z = a.x * mat.m[0][2] + a.y * mat.m[1][2] + a.z * mat.m[2][2];
- return *this;
-}
-
-IcePoint& IcePoint::Transform(const IcePoint& r, const Matrix3x3& rotpos, const IcePoint& linpos)
-{
- x = r.x * rotpos.m[0][0] + r.y * rotpos.m[0][1] + r.z * rotpos.m[0][2] + linpos.x;
- y = r.x * rotpos.m[1][0] + r.y * rotpos.m[1][1] + r.z * rotpos.m[1][2] + linpos.y;
- z = r.x * rotpos.m[2][0] + r.y * rotpos.m[2][1] + r.z * rotpos.m[2][2] + linpos.z;
- return *this;
-}
-
-IcePoint& IcePoint::InvTransform(const IcePoint& r, const Matrix3x3& rotpos, const IcePoint& linpos)
-{
- float sx = r.x - linpos.x;
- float sy = r.y - linpos.y;
- float sz = r.z - linpos.z;
- x = sx * rotpos.m[0][0] + sy * rotpos.m[1][0] + sz * rotpos.m[2][0];
- y = sx * rotpos.m[0][1] + sy * rotpos.m[1][1] + sz * rotpos.m[2][1];
- z = sx * rotpos.m[0][2] + sy * rotpos.m[1][2] + sz * rotpos.m[2][2];
- return *this;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 3D vectors. + * \file IcePoint.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 3D point. + * + * The name is "Point" instead of "Vector" since a vector is N-dimensional, whereas a point is an implicit "vector of dimension 3". + * So the choice was between "Point" and "Vector3", the first one looked better (IMHO). + * + * Some people, then, use a typedef to handle both points & vectors using the same class: typedef Point Vector3; + * This is bad since it opens the door to a lot of confusion while reading the code. I know it may sounds weird but check this out: + * + * \code + * Point P0,P1 = some 3D points; + * Point Delta = P1 - P0; + * \endcode + * + * This compiles fine, although you should have written: + * + * \code + * Point P0,P1 = some 3D points; + * Vector3 Delta = P1 - P0; + * \endcode + * + * Subtle things like this are not caught at compile-time, and when you find one in the code, you never know whether it's a mistake + * from the author or something you don't get. + * + * One way to handle it at compile-time would be to use different classes for Point & Vector3, only overloading operator "-" for vectors. + * But then, you get a lot of redundant code in thoses classes, and basically it's really a lot of useless work. + * + * Another way would be to use homogeneous points: w=1 for points, w=0 for vectors. That's why the HPoint class exists. Now, to store + * your model's vertices and in most cases, you really want to use Points to save ram. + * + * \class Point + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Creates a positive unit random vector. + * \return Self-reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +IcePoint& IcePoint::PositiveUnitRandomVector() +{ + x = UnitRandomFloat(); + y = UnitRandomFloat(); + z = UnitRandomFloat(); + Normalize(); + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Creates a unit random vector. + * \return Self-reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +IcePoint& IcePoint::UnitRandomVector() +{ + x = UnitRandomFloat() - 0.5f; + y = UnitRandomFloat() - 0.5f; + z = UnitRandomFloat() - 0.5f; + Normalize(); + return *this; +} + +// Cast operator +// WARNING: not inlined +IcePoint::operator HPoint() const { return HPoint(x, y, z, 0.0f); } + +IcePoint& IcePoint::Refract(const IcePoint& eye, const IcePoint& n, float refractindex, IcePoint& refracted) +{ + // IcePoint EyePt = eye position + // IcePoint p = current vertex + // IcePoint n = vertex normal + // IcePoint rv = refracted vector + // Eye vector - doesn't need to be normalized + IcePoint Env; + Env.x = eye.x - x; + Env.y = eye.y - y; + Env.z = eye.z - z; + + float NDotE = n|Env; + float NDotN = n|n; + NDotE /= refractindex; + + // Refracted vector + refracted = n*NDotE - Env*NDotN; + + return *this; +} + +IcePoint& IcePoint::ProjectToPlane(const IcePlane& p) +{ + *this-= (p.d + (*this|p.n))*p.n; + return *this; +} + +void IcePoint::ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const +{ + projected = HPoint(x, y, z, 1.0f) * mat; + projected.w = 1.0f / projected.w; + + projected.x*=projected.w; + projected.y*=projected.w; + projected.z*=projected.w; + + projected.x *= halfrenderwidth; projected.x += halfrenderwidth; + projected.y *= -halfrenderheight; projected.y += halfrenderheight; +} + +void IcePoint::SetNotUsed() +{ + // We use a particular integer pattern : 0xffffffff everywhere. This is a NAN. + IR(x) = 0xffffffff; + IR(y) = 0xffffffff; + IR(z) = 0xffffffff; +} + +BOOL IcePoint::IsNotUsed() const +{ + if(IR(x)!=0xffffffff) return FALSE; + if(IR(y)!=0xffffffff) return FALSE; + if(IR(z)!=0xffffffff) return FALSE; + return TRUE; +} + +IcePoint& IcePoint::Mult(const Matrix3x3& mat, const IcePoint& a) +{ + x = a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2]; + y = a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2]; + z = a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2]; + return *this; +} + +IcePoint& IcePoint::Mult2(const Matrix3x3& mat1, const IcePoint& a1, const Matrix3x3& mat2, const IcePoint& a2) +{ + x = a1.x * mat1.m[0][0] + a1.y * mat1.m[0][1] + a1.z * mat1.m[0][2] + a2.x * mat2.m[0][0] + a2.y * mat2.m[0][1] + a2.z * mat2.m[0][2]; + y = a1.x * mat1.m[1][0] + a1.y * mat1.m[1][1] + a1.z * mat1.m[1][2] + a2.x * mat2.m[1][0] + a2.y * mat2.m[1][1] + a2.z * mat2.m[1][2]; + z = a1.x * mat1.m[2][0] + a1.y * mat1.m[2][1] + a1.z * mat1.m[2][2] + a2.x * mat2.m[2][0] + a2.y * mat2.m[2][1] + a2.z * mat2.m[2][2]; + return *this; +} + +IcePoint& IcePoint::Mac(const Matrix3x3& mat, const IcePoint& a) +{ + x += a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2]; + y += a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2]; + z += a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2]; + return *this; +} + +IcePoint& IcePoint::TransMult(const Matrix3x3& mat, const IcePoint& a) +{ + x = a.x * mat.m[0][0] + a.y * mat.m[1][0] + a.z * mat.m[2][0]; + y = a.x * mat.m[0][1] + a.y * mat.m[1][1] + a.z * mat.m[2][1]; + z = a.x * mat.m[0][2] + a.y * mat.m[1][2] + a.z * mat.m[2][2]; + return *this; +} + +IcePoint& IcePoint::Transform(const IcePoint& r, const Matrix3x3& rotpos, const IcePoint& linpos) +{ + x = r.x * rotpos.m[0][0] + r.y * rotpos.m[0][1] + r.z * rotpos.m[0][2] + linpos.x; + y = r.x * rotpos.m[1][0] + r.y * rotpos.m[1][1] + r.z * rotpos.m[1][2] + linpos.y; + z = r.x * rotpos.m[2][0] + r.y * rotpos.m[2][1] + r.z * rotpos.m[2][2] + linpos.z; + return *this; +} + +IcePoint& IcePoint::InvTransform(const IcePoint& r, const Matrix3x3& rotpos, const IcePoint& linpos) +{ + float sx = r.x - linpos.x; + float sy = r.y - linpos.y; + float sz = r.z - linpos.z; + x = sx * rotpos.m[0][0] + sy * rotpos.m[1][0] + sz * rotpos.m[2][0]; + y = sx * rotpos.m[0][1] + sy * rotpos.m[1][1] + sz * rotpos.m[2][1]; + z = sx * rotpos.m[0][2] + sy * rotpos.m[1][2] + sz * rotpos.m[2][2]; + return *this; +} diff --git a/Opcode/Ice/IcePoint.h b/Opcode/Ice/IcePoint.h index bb06684..2ca1801 100644 --- a/Opcode/Ice/IcePoint.h +++ b/Opcode/Ice/IcePoint.h @@ -1,528 +1,528 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for 3D vectors.
- * \file IcePoint.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEPOINT_H__
-#define __ICEPOINT_H__
-
- // Forward declarations
- class HPoint;
- class IcePlane;
- class Matrix3x3;
- class Matrix4x4;
-
- #define CROSS2D(a, b) (a.x*b.y - b.x*a.y)
-
- const float EPSILON2 = 1.0e-20f;
-
- class ICEMATHS_API IcePoint
- {
- public:
-
- //! Empty constructor
- inline_ IcePoint() {}
- //! Constructor from a single float
-// inline_ Point(float val) : x(val), y(val), z(val) {}
-// Removed since it introduced the nasty "Point T = *Matrix4x4.GetTrans();" bug.......
- //! Constructor from floats
- inline_ IcePoint(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {}
- //! Constructor from array
- inline_ IcePoint(const float f[3]) : x(f[_X]), y(f[_Y]), z(f[_Z]) {}
- //! Copy constructor
- inline_ IcePoint(const IcePoint& p) : x(p.x), y(p.y), z(p.z) {}
- //! Destructor
- inline_ ~IcePoint() {}
-
- //! Clears the vector
- inline_ IcePoint& Zero() { x = y = z = 0.0f; return *this; }
-
- //! + infinity
- inline_ IcePoint& SetPlusInfinity() { x = y = z = MAX_FLOAT; return *this; }
- //! - infinity
- inline_ IcePoint& SetMinusInfinity() { x = y = z = MIN_FLOAT; return *this; }
-
- //! Sets positive unit random vector
- IcePoint& PositiveUnitRandomVector();
- //! Sets unit random vector
- IcePoint& UnitRandomVector();
-
- //! Assignment from values
- inline_ IcePoint& Set(float _x, float _y, float _z) { x = _x; y = _y; z = _z; return *this; }
- //! Assignment from array
- inline_ IcePoint& Set(const float f[3]) { x = f[_X]; y = f[_Y]; z = f[_Z]; return *this; }
- //! Assignment from another point
- inline_ IcePoint& Set(const IcePoint& src) { x = src.x; y = src.y; z = src.z; return *this; }
-
- //! Adds a vector
- inline_ IcePoint& Add(const IcePoint& p) { x += p.x; y += p.y; z += p.z; return *this; }
- //! Adds a vector
- inline_ IcePoint& Add(float _x, float _y, float _z) { x += _x; y += _y; z += _z; return *this; }
- //! Adds a vector
- inline_ IcePoint& Add(const float f[3]) { x += f[_X]; y += f[_Y]; z += f[_Z]; return *this; }
- //! Adds vectors
- inline_ IcePoint& Add(const IcePoint& p, const IcePoint& q) { x = p.x+q.x; y = p.y+q.y; z = p.z+q.z; return *this; }
-
- //! Subtracts a vector
- inline_ IcePoint& Sub(const IcePoint& p) { x -= p.x; y -= p.y; z -= p.z; return *this; }
- //! Subtracts a vector
- inline_ IcePoint& Sub(float _x, float _y, float _z) { x -= _x; y -= _y; z -= _z; return *this; }
- //! Subtracts a vector
- inline_ IcePoint& Sub(const float f[3]) { x -= f[_X]; y -= f[_Y]; z -= f[_Z]; return *this; }
- //! Subtracts vectors
- inline_ IcePoint& Sub(const IcePoint& p, const IcePoint& q) { x = p.x-q.x; y = p.y-q.y; z = p.z-q.z; return *this; }
-
- //! this = -this
- inline_ IcePoint& Neg() { x = -x; y = -y; z = -z; return *this; }
- //! this = -a
- inline_ IcePoint& Neg(const IcePoint& a) { x = -a.x; y = -a.y; z = -a.z; return *this; }
-
- //! Multiplies by a scalar
- inline_ IcePoint& Mult(float s) { x *= s; y *= s; z *= s; return *this; }
-
- //! this = a * scalar
- inline_ IcePoint& Mult(const IcePoint& a, float scalar)
- {
- x = a.x * scalar;
- y = a.y * scalar;
- z = a.z * scalar;
- return *this;
- }
-
- //! this = a + b * scalar
- inline_ IcePoint& Mac(const IcePoint& a, const IcePoint& b, float scalar)
- {
- x = a.x + b.x * scalar;
- y = a.y + b.y * scalar;
- z = a.z + b.z * scalar;
- return *this;
- }
-
- //! this = this + a * scalar
- inline_ IcePoint& Mac(const IcePoint& a, float scalar)
- {
- x += a.x * scalar;
- y += a.y * scalar;
- z += a.z * scalar;
- return *this;
- }
-
- //! this = a - b * scalar
- inline_ IcePoint& Msc(const IcePoint& a, const IcePoint& b, float scalar)
- {
- x = a.x - b.x * scalar;
- y = a.y - b.y * scalar;
- z = a.z - b.z * scalar;
- return *this;
- }
-
- //! this = this - a * scalar
- inline_ IcePoint& Msc(const IcePoint& a, float scalar)
- {
- x -= a.x * scalar;
- y -= a.y * scalar;
- z -= a.z * scalar;
- return *this;
- }
-
- //! this = a + b * scalarb + c * scalarc
- inline_ IcePoint& Mac2(const IcePoint& a, const IcePoint& b, float scalarb, const IcePoint& c, float scalarc)
- {
- x = a.x + b.x * scalarb + c.x * scalarc;
- y = a.y + b.y * scalarb + c.y * scalarc;
- z = a.z + b.z * scalarb + c.z * scalarc;
- return *this;
- }
-
- //! this = a - b * scalarb - c * scalarc
- inline_ IcePoint& Msc2(const IcePoint& a, const IcePoint& b, float scalarb, const IcePoint& c, float scalarc)
- {
- x = a.x - b.x * scalarb - c.x * scalarc;
- y = a.y - b.y * scalarb - c.y * scalarc;
- z = a.z - b.z * scalarb - c.z * scalarc;
- return *this;
- }
-
- //! this = mat * a
- inline_ IcePoint& Mult(const Matrix3x3& mat, const IcePoint& a);
-
- //! this = mat1 * a1 + mat2 * a2
- inline_ IcePoint& Mult2(const Matrix3x3& mat1, const IcePoint& a1, const Matrix3x3& mat2, const IcePoint& a2);
-
- //! this = this + mat * a
- inline_ IcePoint& Mac(const Matrix3x3& mat, const IcePoint& a);
-
- //! this = transpose(mat) * a
- inline_ IcePoint& TransMult(const Matrix3x3& mat, const IcePoint& a);
-
- //! Linear interpolate between two vectors: this = a + t * (b - a)
- inline_ IcePoint& Lerp(const IcePoint& a, const IcePoint& b, float t)
- {
- x = a.x + t * (b.x - a.x);
- y = a.y + t * (b.y - a.y);
- z = a.z + t * (b.z - a.z);
- return *this;
- }
-
- //! Hermite interpolate between p1 and p2. p0 and p3 are used for finding gradient at p1 and p2.
- //! this = p0 * (2t^2 - t^3 - t)/2
- //! + p1 * (3t^3 - 5t^2 + 2)/2
- //! + p2 * (4t^2 - 3t^3 + t)/2
- //! + p3 * (t^3 - t^2)/2
- inline_ IcePoint& Herp(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2, const IcePoint& p3, float t)
- {
- float t2 = t * t;
- float t3 = t2 * t;
- float kp0 = (2.0f * t2 - t3 - t) * 0.5f;
- float kp1 = (3.0f * t3 - 5.0f * t2 + 2.0f) * 0.5f;
- float kp2 = (4.0f * t2 - 3.0f * t3 + t) * 0.5f;
- float kp3 = (t3 - t2) * 0.5f;
- x = p0.x * kp0 + p1.x * kp1 + p2.x * kp2 + p3.x * kp3;
- y = p0.y * kp0 + p1.y * kp1 + p2.y * kp2 + p3.y * kp3;
- z = p0.z * kp0 + p1.z * kp1 + p2.z * kp2 + p3.z * kp3;
- return *this;
- }
-
- //! this = rotpos * r + linpos
- inline_ IcePoint& Transform(const IcePoint& r, const Matrix3x3& rotpos, const IcePoint& linpos);
-
- //! this = trans(rotpos) * (r - linpos)
- inline_ IcePoint& InvTransform(const IcePoint& r, const Matrix3x3& rotpos, const IcePoint& linpos);
-
- //! Returns MIN(x, y, z);
- inline_ float Min() const { return MIN(x, MIN(y, z)); }
- //! Returns MAX(x, y, z);
- inline_ float Max() const { return MAX(x, MAX(y, z)); }
- //! Sets each element to be componentwise minimum
- inline_ IcePoint& Min(const IcePoint& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); return *this; }
- //! Sets each element to be componentwise maximum
- inline_ IcePoint& Max(const IcePoint& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); return *this; }
-
- //! Clamps each element
- inline_ IcePoint& Clamp(float min, float max)
- {
- if(x<min) x=min; if(x>max) x=max;
- if(y<min) y=min; if(y>max) y=max;
- if(z<min) z=min; if(z>max) z=max;
- return *this;
- }
-
- //! Computes square magnitude
- inline_ float SquareMagnitude() const { return x*x + y*y + z*z; }
- //! Computes magnitude
- inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z); }
- //! Computes volume
- inline_ float Volume() const { return x * y * z; }
-
- //! Checks the IcePoint is near zero
- inline_ bool ApproxZero() const { return SquareMagnitude() < EPSILON2; }
-
- //! Tests for exact zero vector
- inline_ BOOL IsZero() const
- {
- if(IR(x) || IR(y) || IR(z)) return FALSE;
- return TRUE;
- }
-
- //! Checks IcePoint validity
- inline_ BOOL IsValid() const
- {
- if(!IsValidFloat(x)) return FALSE;
- if(!IsValidFloat(y)) return FALSE;
- if(!IsValidFloat(z)) return FALSE;
- return TRUE;
- }
-
- //! Slighty moves the IcePoint
- void Tweak(udword coord_mask, udword tweak_mask)
- {
- if(coord_mask&1) { udword Dummy = IR(x); Dummy^=tweak_mask; x = FR(Dummy); }
- if(coord_mask&2) { udword Dummy = IR(y); Dummy^=tweak_mask; y = FR(Dummy); }
- if(coord_mask&4) { udword Dummy = IR(z); Dummy^=tweak_mask; z = FR(Dummy); }
- }
-
- #define TWEAKMASK 0x3fffff
- #define TWEAKNOTMASK ~TWEAKMASK
- //! Slighty moves the IcePoint out
- inline_ void TweakBigger()
- {
- udword Dummy = (IR(x)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy);
- Dummy = (IR(y)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy);
- Dummy = (IR(z)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy);
- }
-
- //! Slighty moves the IcePoint in
- inline_ void TweakSmaller()
- {
- udword Dummy = (IR(x)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy);
- Dummy = (IR(y)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy);
- Dummy = (IR(z)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy);
- }
-
- //! Normalizes the vector
- inline_ IcePoint& Normalize()
- {
- float M = x*x + y*y + z*z;
- if(M)
- {
- M = 1.0f / sqrtf(M);
- x *= M;
- y *= M;
- z *= M;
- }
- return *this;
- }
-
- //! Sets vector length
- inline_ IcePoint& SetLength(float length)
- {
- float NewLength = length / Magnitude();
- x *= NewLength;
- y *= NewLength;
- z *= NewLength;
- return *this;
- }
-
- //! Clamps vector length
- inline_ IcePoint& ClampLength(float limit_length)
- {
- if(limit_length>=0.0f) // Magnitude must be positive
- {
- float CurrentSquareLength = SquareMagnitude();
-
- if(CurrentSquareLength > limit_length * limit_length)
- {
- float Coeff = limit_length / sqrtf(CurrentSquareLength);
- x *= Coeff;
- y *= Coeff;
- z *= Coeff;
- }
- }
- return *this;
- }
-
- //! Computes distance to another IcePoint
- inline_ float Distance(const IcePoint& b) const
- {
- return sqrtf((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z));
- }
-
- //! Computes square distance to another IcePoint
- inline_ float SquareDistance(const IcePoint& b) const
- {
- return ((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z));
- }
-
- //! Dot product dp = this|a
- inline_ float Dot(const IcePoint& p) const { return p.x * x + p.y * y + p.z * z; }
-
- //! Cross product this = a x b
- inline_ IcePoint& Cross(const IcePoint& a, const IcePoint& b)
- {
- x = a.y * b.z - a.z * b.y;
- y = a.z * b.x - a.x * b.z;
- z = a.x * b.y - a.y * b.x;
- return *this;
- }
-
- //! Vector code ( bitmask = sign(z) | sign(y) | sign(x) )
- inline_ udword VectorCode() const
- {
- return (IR(x)>>31) | ((IR(y)&SIGN_BITMASK)>>30) | ((IR(z)&SIGN_BITMASK)>>29);
- }
-
- //! Returns largest axis
- inline_ PointComponent LargestAxis() const
- {
- const float* Vals = &x;
- PointComponent m = _X;
- if(Vals[_Y] > Vals[m]) m = _Y;
- if(Vals[_Z] > Vals[m]) m = _Z;
- return m;
- }
-
- //! Returns closest axis
- inline_ PointComponent ClosestAxis() const
- {
- const float* Vals = &x;
- PointComponent m = _X;
- if(AIR(Vals[_Y]) > AIR(Vals[m])) m = _Y;
- if(AIR(Vals[_Z]) > AIR(Vals[m])) m = _Z;
- return m;
- }
-
- //! Returns smallest axis
- inline_ PointComponent SmallestAxis() const
- {
- const float* Vals = &x;
- PointComponent m = _X;
- if(Vals[_Y] < Vals[m]) m = _Y;
- if(Vals[_Z] < Vals[m]) m = _Z;
- return m;
- }
-
- //! Refracts the IcePoint
- IcePoint& Refract(const IcePoint& eye, const IcePoint& n, float refractindex, IcePoint& refracted);
-
- //! Projects the IcePoint onto a plane
- IcePoint& ProjectToPlane(const IcePlane& p);
-
- //! Projects the IcePoint onto the screen
- void ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const;
-
- //! Unfolds the IcePoint onto a plane according to edge(a,b)
- IcePoint& Unfold(IcePlane& p, IcePoint& a, IcePoint& b);
-
- //! Hash function from Ville Miettinen
- inline_ udword GetHashValue() const
- {
- const udword* h = (const udword*)(this);
- udword f = (h[0]+h[1]*11-(h[2]*17)) & 0x7fffffff; // avoid problems with +-0
- return (f>>22)^(f>>12)^(f);
- }
-
- //! Stuff magic values in the IcePoint, marking it as explicitely not used.
- void SetNotUsed();
- //! Checks the IcePoint is marked as not used
- BOOL IsNotUsed() const;
-
- // Arithmetic operators
-
- //! Unary operator for IcePoint Negate = - IcePoint
- inline_ IcePoint operator-() const { return IcePoint(-x, -y, -z); }
-
- //! Operator for IcePoint Plus = IcePoint + IcePoint.
- inline_ IcePoint operator+(const IcePoint& p) const { return IcePoint(x + p.x, y + p.y, z + p.z); }
- //! Operator for IcePoint Minus = IcePoint - IcePoint.
- inline_ IcePoint operator-(const IcePoint& p) const { return IcePoint(x - p.x, y - p.y, z - p.z); }
-
- //! Operator for IcePoint Mul = IcePoint * IcePoint.
- inline_ IcePoint operator*(const IcePoint& p) const { return IcePoint(x * p.x, y * p.y, z * p.z); }
- //! Operator for IcePoint Scale = IcePoint * float.
- inline_ IcePoint operator*(float s) const { return IcePoint(x * s, y * s, z * s ); }
- //! Operator for IcePoint Scale = float * IcePoint.
- inline_ friend IcePoint operator*(float s, const IcePoint& p) { return IcePoint(s * p.x, s * p.y, s * p.z); }
-
- //! Operator for IcePoint Div = IcePoint / IcePoint.
- inline_ IcePoint operator/(const IcePoint& p) const { return IcePoint(x / p.x, y / p.y, z / p.z); }
- //! Operator for IcePoint Scale = IcePoint / float.
- inline_ IcePoint operator/(float s) const { s = 1.0f / s; return IcePoint(x * s, y * s, z * s); }
- //! Operator for IcePoint Scale = float / IcePoint.
- inline_ friend IcePoint operator/(float s, const IcePoint& p) { return IcePoint(s / p.x, s / p.y, s / p.z); }
-
- //! Operator for float DotProd = IcePoint | IcePoint.
- inline_ float operator|(const IcePoint& p) const { return x*p.x + y*p.y + z*p.z; }
- //! Operator for IcePoint VecProd = IcePoint ^ IcePoint.
- inline_ IcePoint operator^(const IcePoint& p) const
- {
- return IcePoint(
- y * p.z - z * p.y,
- z * p.x - x * p.z,
- x * p.y - y * p.x );
- }
-
- //! Operator for IcePoint += IcePoint.
- inline_ IcePoint& operator+=(const IcePoint& p) { x += p.x; y += p.y; z += p.z; return *this; }
- //! Operator for IcePoint += float.
- inline_ IcePoint& operator+=(float s) { x += s; y += s; z += s; return *this; }
-
- //! Operator for IcePoint -= IcePoint.
- inline_ IcePoint& operator-=(const IcePoint& p) { x -= p.x; y -= p.y; z -= p.z; return *this; }
- //! Operator for IcePoint -= float.
- inline_ IcePoint& operator-=(float s) { x -= s; y -= s; z -= s; return *this; }
-
- //! Operator for IcePoint *= IcePoint.
- inline_ IcePoint& operator*=(const IcePoint& p) { x *= p.x; y *= p.y; z *= p.z; return *this; }
- //! Operator for IcePoint *= float.
- inline_ IcePoint& operator*=(float s) { x *= s; y *= s; z *= s; return *this; }
-
- //! Operator for IcePoint /= IcePoint.
- inline_ IcePoint& operator/=(const IcePoint& p) { x /= p.x; y /= p.y; z /= p.z; return *this; }
- //! Operator for IcePoint /= float.
- inline_ IcePoint& operator/=(float s) { s = 1.0f/s; x *= s; y *= s; z *= s; return *this; }
-
- // Logical operators
-
- //! Operator for "if(IcePoint==IcePoint)"
- inline_ bool operator==(const IcePoint& p) const { return ( (IR(x)==IR(p.x))&&(IR(y)==IR(p.y))&&(IR(z)==IR(p.z))); }
- //! Operator for "if(IcePoint!=IcePoint)"
- inline_ bool operator!=(const IcePoint& p) const { return ( (IR(x)!=IR(p.x))||(IR(y)!=IR(p.y))||(IR(z)!=IR(p.z))); }
-
- // Arithmetic operators
-
- //! Operator for IcePoint Mul = IcePoint * Matrix3x3.
- inline_ IcePoint operator*(const Matrix3x3& mat) const
- {
- class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining
- const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat;
-
- return IcePoint(
- x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0],
- x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1],
- x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] );
- }
-
- //! Operator for IcePoint Mul = IcePoint * Matrix4x4.
- inline_ IcePoint operator*(const Matrix4x4& mat) const
- {
- class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining
- const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat;
-
- return IcePoint(
- x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0],
- x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1],
- x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]);
- }
-
- //! Operator for IcePoint *= Matrix3x3.
- inline_ IcePoint& operator*=(const Matrix3x3& mat)
- {
- class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining
- const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat;
-
- float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0];
- float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1];
- float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2];
-
- x = xp; y = yp; z = zp;
-
- return *this;
- }
-
- //! Operator for IcePoint *= Matrix4x4.
- inline_ IcePoint& operator*=(const Matrix4x4& mat)
- {
- class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining
- const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat;
-
- float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0];
- float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1];
- float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2];
-
- x = xp; y = yp; z = zp;
-
- return *this;
- }
-
- // Cast operators
-
- //! Cast a IcePoint to a HPoint. w is set to zero.
- operator HPoint() const;
-
- inline_ operator const float*() const { return &x; }
- inline_ operator float*() { return &x; }
-
- public:
- float x, y, z;
- };
-
- FUNCTION ICEMATHS_API void Normalize1(IcePoint& a);
- FUNCTION ICEMATHS_API void Normalize2(IcePoint& a);
-
-#endif //__ICEPOINT_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 3D vectors. + * \file IcePoint.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEPOINT_H__ +#define __ICEPOINT_H__ + + // Forward declarations + class HPoint; + class IcePlane; + class Matrix3x3; + class Matrix4x4; + + #define CROSS2D(a, b) (a.x*b.y - b.x*a.y) + + const float EPSILON2 = 1.0e-20f; + + class ICEMATHS_API IcePoint + { + public: + + //! Empty constructor + inline_ IcePoint() {} + //! Constructor from a single float +// inline_ Point(float val) : x(val), y(val), z(val) {} +// Removed since it introduced the nasty "Point T = *Matrix4x4.GetTrans();" bug....... + //! Constructor from floats + inline_ IcePoint(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {} + //! Constructor from array + inline_ IcePoint(const float f[3]) : x(f[_X]), y(f[_Y]), z(f[_Z]) {} + //! Copy constructor + inline_ IcePoint(const IcePoint& p) : x(p.x), y(p.y), z(p.z) {} + //! Destructor + inline_ ~IcePoint() {} + + //! Clears the vector + inline_ IcePoint& Zero() { x = y = z = 0.0f; return *this; } + + //! + infinity + inline_ IcePoint& SetPlusInfinity() { x = y = z = MAX_FLOAT; return *this; } + //! - infinity + inline_ IcePoint& SetMinusInfinity() { x = y = z = MIN_FLOAT; return *this; } + + //! Sets positive unit random vector + IcePoint& PositiveUnitRandomVector(); + //! Sets unit random vector + IcePoint& UnitRandomVector(); + + //! Assignment from values + inline_ IcePoint& Set(float _x, float _y, float _z) { x = _x; y = _y; z = _z; return *this; } + //! Assignment from array + inline_ IcePoint& Set(const float f[3]) { x = f[_X]; y = f[_Y]; z = f[_Z]; return *this; } + //! Assignment from another point + inline_ IcePoint& Set(const IcePoint& src) { x = src.x; y = src.y; z = src.z; return *this; } + + //! Adds a vector + inline_ IcePoint& Add(const IcePoint& p) { x += p.x; y += p.y; z += p.z; return *this; } + //! Adds a vector + inline_ IcePoint& Add(float _x, float _y, float _z) { x += _x; y += _y; z += _z; return *this; } + //! Adds a vector + inline_ IcePoint& Add(const float f[3]) { x += f[_X]; y += f[_Y]; z += f[_Z]; return *this; } + //! Adds vectors + inline_ IcePoint& Add(const IcePoint& p, const IcePoint& q) { x = p.x+q.x; y = p.y+q.y; z = p.z+q.z; return *this; } + + //! Subtracts a vector + inline_ IcePoint& Sub(const IcePoint& p) { x -= p.x; y -= p.y; z -= p.z; return *this; } + //! Subtracts a vector + inline_ IcePoint& Sub(float _x, float _y, float _z) { x -= _x; y -= _y; z -= _z; return *this; } + //! Subtracts a vector + inline_ IcePoint& Sub(const float f[3]) { x -= f[_X]; y -= f[_Y]; z -= f[_Z]; return *this; } + //! Subtracts vectors + inline_ IcePoint& Sub(const IcePoint& p, const IcePoint& q) { x = p.x-q.x; y = p.y-q.y; z = p.z-q.z; return *this; } + + //! this = -this + inline_ IcePoint& Neg() { x = -x; y = -y; z = -z; return *this; } + //! this = -a + inline_ IcePoint& Neg(const IcePoint& a) { x = -a.x; y = -a.y; z = -a.z; return *this; } + + //! Multiplies by a scalar + inline_ IcePoint& Mult(float s) { x *= s; y *= s; z *= s; return *this; } + + //! this = a * scalar + inline_ IcePoint& Mult(const IcePoint& a, float scalar) + { + x = a.x * scalar; + y = a.y * scalar; + z = a.z * scalar; + return *this; + } + + //! this = a + b * scalar + inline_ IcePoint& Mac(const IcePoint& a, const IcePoint& b, float scalar) + { + x = a.x + b.x * scalar; + y = a.y + b.y * scalar; + z = a.z + b.z * scalar; + return *this; + } + + //! this = this + a * scalar + inline_ IcePoint& Mac(const IcePoint& a, float scalar) + { + x += a.x * scalar; + y += a.y * scalar; + z += a.z * scalar; + return *this; + } + + //! this = a - b * scalar + inline_ IcePoint& Msc(const IcePoint& a, const IcePoint& b, float scalar) + { + x = a.x - b.x * scalar; + y = a.y - b.y * scalar; + z = a.z - b.z * scalar; + return *this; + } + + //! this = this - a * scalar + inline_ IcePoint& Msc(const IcePoint& a, float scalar) + { + x -= a.x * scalar; + y -= a.y * scalar; + z -= a.z * scalar; + return *this; + } + + //! this = a + b * scalarb + c * scalarc + inline_ IcePoint& Mac2(const IcePoint& a, const IcePoint& b, float scalarb, const IcePoint& c, float scalarc) + { + x = a.x + b.x * scalarb + c.x * scalarc; + y = a.y + b.y * scalarb + c.y * scalarc; + z = a.z + b.z * scalarb + c.z * scalarc; + return *this; + } + + //! this = a - b * scalarb - c * scalarc + inline_ IcePoint& Msc2(const IcePoint& a, const IcePoint& b, float scalarb, const IcePoint& c, float scalarc) + { + x = a.x - b.x * scalarb - c.x * scalarc; + y = a.y - b.y * scalarb - c.y * scalarc; + z = a.z - b.z * scalarb - c.z * scalarc; + return *this; + } + + //! this = mat * a + inline_ IcePoint& Mult(const Matrix3x3& mat, const IcePoint& a); + + //! this = mat1 * a1 + mat2 * a2 + inline_ IcePoint& Mult2(const Matrix3x3& mat1, const IcePoint& a1, const Matrix3x3& mat2, const IcePoint& a2); + + //! this = this + mat * a + inline_ IcePoint& Mac(const Matrix3x3& mat, const IcePoint& a); + + //! this = transpose(mat) * a + inline_ IcePoint& TransMult(const Matrix3x3& mat, const IcePoint& a); + + //! Linear interpolate between two vectors: this = a + t * (b - a) + inline_ IcePoint& Lerp(const IcePoint& a, const IcePoint& b, float t) + { + x = a.x + t * (b.x - a.x); + y = a.y + t * (b.y - a.y); + z = a.z + t * (b.z - a.z); + return *this; + } + + //! Hermite interpolate between p1 and p2. p0 and p3 are used for finding gradient at p1 and p2. + //! this = p0 * (2t^2 - t^3 - t)/2 + //! + p1 * (3t^3 - 5t^2 + 2)/2 + //! + p2 * (4t^2 - 3t^3 + t)/2 + //! + p3 * (t^3 - t^2)/2 + inline_ IcePoint& Herp(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2, const IcePoint& p3, float t) + { + float t2 = t * t; + float t3 = t2 * t; + float kp0 = (2.0f * t2 - t3 - t) * 0.5f; + float kp1 = (3.0f * t3 - 5.0f * t2 + 2.0f) * 0.5f; + float kp2 = (4.0f * t2 - 3.0f * t3 + t) * 0.5f; + float kp3 = (t3 - t2) * 0.5f; + x = p0.x * kp0 + p1.x * kp1 + p2.x * kp2 + p3.x * kp3; + y = p0.y * kp0 + p1.y * kp1 + p2.y * kp2 + p3.y * kp3; + z = p0.z * kp0 + p1.z * kp1 + p2.z * kp2 + p3.z * kp3; + return *this; + } + + //! this = rotpos * r + linpos + inline_ IcePoint& Transform(const IcePoint& r, const Matrix3x3& rotpos, const IcePoint& linpos); + + //! this = trans(rotpos) * (r - linpos) + inline_ IcePoint& InvTransform(const IcePoint& r, const Matrix3x3& rotpos, const IcePoint& linpos); + + //! Returns MIN(x, y, z); + inline_ float Min() const { return MIN(x, MIN(y, z)); } + //! Returns MAX(x, y, z); + inline_ float Max() const { return MAX(x, MAX(y, z)); } + //! Sets each element to be componentwise minimum + inline_ IcePoint& Min(const IcePoint& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); return *this; } + //! Sets each element to be componentwise maximum + inline_ IcePoint& Max(const IcePoint& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); return *this; } + + //! Clamps each element + inline_ IcePoint& Clamp(float min, float max) + { + if(x<min) x=min; if(x>max) x=max; + if(y<min) y=min; if(y>max) y=max; + if(z<min) z=min; if(z>max) z=max; + return *this; + } + + //! Computes square magnitude + inline_ float SquareMagnitude() const { return x*x + y*y + z*z; } + //! Computes magnitude + inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z); } + //! Computes volume + inline_ float Volume() const { return x * y * z; } + + //! Checks the IcePoint is near zero + inline_ bool ApproxZero() const { return SquareMagnitude() < EPSILON2; } + + //! Tests for exact zero vector + inline_ BOOL IsZero() const + { + if(IR(x) || IR(y) || IR(z)) return FALSE; + return TRUE; + } + + //! Checks IcePoint validity + inline_ BOOL IsValid() const + { + if(!IsValidFloat(x)) return FALSE; + if(!IsValidFloat(y)) return FALSE; + if(!IsValidFloat(z)) return FALSE; + return TRUE; + } + + //! Slighty moves the IcePoint + void Tweak(udword coord_mask, udword tweak_mask) + { + if(coord_mask&1) { udword Dummy = IR(x); Dummy^=tweak_mask; x = FR(Dummy); } + if(coord_mask&2) { udword Dummy = IR(y); Dummy^=tweak_mask; y = FR(Dummy); } + if(coord_mask&4) { udword Dummy = IR(z); Dummy^=tweak_mask; z = FR(Dummy); } + } + + #define TWEAKMASK 0x3fffff + #define TWEAKNOTMASK ~TWEAKMASK + //! Slighty moves the IcePoint out + inline_ void TweakBigger() + { + udword Dummy = (IR(x)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy); + Dummy = (IR(y)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy); + Dummy = (IR(z)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy); + } + + //! Slighty moves the IcePoint in + inline_ void TweakSmaller() + { + udword Dummy = (IR(x)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy); + Dummy = (IR(y)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy); + Dummy = (IR(z)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy); + } + + //! Normalizes the vector + inline_ IcePoint& Normalize() + { + float M = x*x + y*y + z*z; + if(M) + { + M = 1.0f / sqrtf(M); + x *= M; + y *= M; + z *= M; + } + return *this; + } + + //! Sets vector length + inline_ IcePoint& SetLength(float length) + { + float NewLength = length / Magnitude(); + x *= NewLength; + y *= NewLength; + z *= NewLength; + return *this; + } + + //! Clamps vector length + inline_ IcePoint& ClampLength(float limit_length) + { + if(limit_length>=0.0f) // Magnitude must be positive + { + float CurrentSquareLength = SquareMagnitude(); + + if(CurrentSquareLength > limit_length * limit_length) + { + float Coeff = limit_length / sqrtf(CurrentSquareLength); + x *= Coeff; + y *= Coeff; + z *= Coeff; + } + } + return *this; + } + + //! Computes distance to another IcePoint + inline_ float Distance(const IcePoint& b) const + { + return sqrtf((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z)); + } + + //! Computes square distance to another IcePoint + inline_ float SquareDistance(const IcePoint& b) const + { + return ((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z)); + } + + //! Dot product dp = this|a + inline_ float Dot(const IcePoint& p) const { return p.x * x + p.y * y + p.z * z; } + + //! Cross product this = a x b + inline_ IcePoint& Cross(const IcePoint& a, const IcePoint& b) + { + x = a.y * b.z - a.z * b.y; + y = a.z * b.x - a.x * b.z; + z = a.x * b.y - a.y * b.x; + return *this; + } + + //! Vector code ( bitmask = sign(z) | sign(y) | sign(x) ) + inline_ udword VectorCode() const + { + return (IR(x)>>31) | ((IR(y)&SIGN_BITMASK)>>30) | ((IR(z)&SIGN_BITMASK)>>29); + } + + //! Returns largest axis + inline_ PointComponent LargestAxis() const + { + const float* Vals = &x; + PointComponent m = _X; + if(Vals[_Y] > Vals[m]) m = _Y; + if(Vals[_Z] > Vals[m]) m = _Z; + return m; + } + + //! Returns closest axis + inline_ PointComponent ClosestAxis() const + { + const float* Vals = &x; + PointComponent m = _X; + if(AIR(Vals[_Y]) > AIR(Vals[m])) m = _Y; + if(AIR(Vals[_Z]) > AIR(Vals[m])) m = _Z; + return m; + } + + //! Returns smallest axis + inline_ PointComponent SmallestAxis() const + { + const float* Vals = &x; + PointComponent m = _X; + if(Vals[_Y] < Vals[m]) m = _Y; + if(Vals[_Z] < Vals[m]) m = _Z; + return m; + } + + //! Refracts the IcePoint + IcePoint& Refract(const IcePoint& eye, const IcePoint& n, float refractindex, IcePoint& refracted); + + //! Projects the IcePoint onto a plane + IcePoint& ProjectToPlane(const IcePlane& p); + + //! Projects the IcePoint onto the screen + void ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const; + + //! Unfolds the IcePoint onto a plane according to edge(a,b) + IcePoint& Unfold(IcePlane& p, IcePoint& a, IcePoint& b); + + //! Hash function from Ville Miettinen + inline_ udword GetHashValue() const + { + const udword* h = (const udword*)(this); + udword f = (h[0]+h[1]*11-(h[2]*17)) & 0x7fffffff; // avoid problems with +-0 + return (f>>22)^(f>>12)^(f); + } + + //! Stuff magic values in the IcePoint, marking it as explicitely not used. + void SetNotUsed(); + //! Checks the IcePoint is marked as not used + BOOL IsNotUsed() const; + + // Arithmetic operators + + //! Unary operator for IcePoint Negate = - IcePoint + inline_ IcePoint operator-() const { return IcePoint(-x, -y, -z); } + + //! Operator for IcePoint Plus = IcePoint + IcePoint. + inline_ IcePoint operator+(const IcePoint& p) const { return IcePoint(x + p.x, y + p.y, z + p.z); } + //! Operator for IcePoint Minus = IcePoint - IcePoint. + inline_ IcePoint operator-(const IcePoint& p) const { return IcePoint(x - p.x, y - p.y, z - p.z); } + + //! Operator for IcePoint Mul = IcePoint * IcePoint. + inline_ IcePoint operator*(const IcePoint& p) const { return IcePoint(x * p.x, y * p.y, z * p.z); } + //! Operator for IcePoint Scale = IcePoint * float. + inline_ IcePoint operator*(float s) const { return IcePoint(x * s, y * s, z * s ); } + //! Operator for IcePoint Scale = float * IcePoint. + inline_ friend IcePoint operator*(float s, const IcePoint& p) { return IcePoint(s * p.x, s * p.y, s * p.z); } + + //! Operator for IcePoint Div = IcePoint / IcePoint. + inline_ IcePoint operator/(const IcePoint& p) const { return IcePoint(x / p.x, y / p.y, z / p.z); } + //! Operator for IcePoint Scale = IcePoint / float. + inline_ IcePoint operator/(float s) const { s = 1.0f / s; return IcePoint(x * s, y * s, z * s); } + //! Operator for IcePoint Scale = float / IcePoint. + inline_ friend IcePoint operator/(float s, const IcePoint& p) { return IcePoint(s / p.x, s / p.y, s / p.z); } + + //! Operator for float DotProd = IcePoint | IcePoint. + inline_ float operator|(const IcePoint& p) const { return x*p.x + y*p.y + z*p.z; } + //! Operator for IcePoint VecProd = IcePoint ^ IcePoint. + inline_ IcePoint operator^(const IcePoint& p) const + { + return IcePoint( + y * p.z - z * p.y, + z * p.x - x * p.z, + x * p.y - y * p.x ); + } + + //! Operator for IcePoint += IcePoint. + inline_ IcePoint& operator+=(const IcePoint& p) { x += p.x; y += p.y; z += p.z; return *this; } + //! Operator for IcePoint += float. + inline_ IcePoint& operator+=(float s) { x += s; y += s; z += s; return *this; } + + //! Operator for IcePoint -= IcePoint. + inline_ IcePoint& operator-=(const IcePoint& p) { x -= p.x; y -= p.y; z -= p.z; return *this; } + //! Operator for IcePoint -= float. + inline_ IcePoint& operator-=(float s) { x -= s; y -= s; z -= s; return *this; } + + //! Operator for IcePoint *= IcePoint. + inline_ IcePoint& operator*=(const IcePoint& p) { x *= p.x; y *= p.y; z *= p.z; return *this; } + //! Operator for IcePoint *= float. + inline_ IcePoint& operator*=(float s) { x *= s; y *= s; z *= s; return *this; } + + //! Operator for IcePoint /= IcePoint. + inline_ IcePoint& operator/=(const IcePoint& p) { x /= p.x; y /= p.y; z /= p.z; return *this; } + //! Operator for IcePoint /= float. + inline_ IcePoint& operator/=(float s) { s = 1.0f/s; x *= s; y *= s; z *= s; return *this; } + + // Logical operators + + //! Operator for "if(IcePoint==IcePoint)" + inline_ bool operator==(const IcePoint& p) const { return ( (IR(x)==IR(p.x))&&(IR(y)==IR(p.y))&&(IR(z)==IR(p.z))); } + //! Operator for "if(IcePoint!=IcePoint)" + inline_ bool operator!=(const IcePoint& p) const { return ( (IR(x)!=IR(p.x))||(IR(y)!=IR(p.y))||(IR(z)!=IR(p.z))); } + + // Arithmetic operators + + //! Operator for IcePoint Mul = IcePoint * Matrix3x3. + inline_ IcePoint operator*(const Matrix3x3& mat) const + { + class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining + const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat; + + return IcePoint( + x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0], + x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1], + x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] ); + } + + //! Operator for IcePoint Mul = IcePoint * Matrix4x4. + inline_ IcePoint operator*(const Matrix4x4& mat) const + { + class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining + const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat; + + return IcePoint( + x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0], + x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1], + x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]); + } + + //! Operator for IcePoint *= Matrix3x3. + inline_ IcePoint& operator*=(const Matrix3x3& mat) + { + class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining + const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat; + + float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0]; + float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1]; + float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2]; + + x = xp; y = yp; z = zp; + + return *this; + } + + //! Operator for IcePoint *= Matrix4x4. + inline_ IcePoint& operator*=(const Matrix4x4& mat) + { + class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining + const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat; + + float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0]; + float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1]; + float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]; + + x = xp; y = yp; z = zp; + + return *this; + } + + // Cast operators + + //! Cast a IcePoint to a HPoint. w is set to zero. + operator HPoint() const; + + inline_ operator const float*() const { return &x; } + inline_ operator float*() { return &x; } + + public: + float x, y, z; + }; + + FUNCTION ICEMATHS_API void Normalize1(IcePoint& a); + FUNCTION ICEMATHS_API void Normalize2(IcePoint& a); + +#endif //__ICEPOINT_H__ diff --git a/Opcode/Ice/IcePreprocessor.h b/Opcode/Ice/IcePreprocessor.h index bb0ef7b..0aaf8f1 100644 --- a/Opcode/Ice/IcePreprocessor.h +++ b/Opcode/Ice/IcePreprocessor.h @@ -1,128 +1,128 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains preprocessor stuff. This should be the first included header.
- * \file IcePreprocessor.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEPREPROCESSOR_H__
-#define __ICEPREPROCESSOR_H__
-
- // Check platform
- #if defined( _WIN32 ) || defined( WIN32 )
- #pragma message("Compiling on Windows...")
- #define PLATFORM_WINDOWS
- #else
- #pragma message("Compiling on unknown platform...")
- #endif
-
- // Check compiler
- #if defined(_MSC_VER)
- #pragma message("Compiling with VC++...")
- #define COMPILER_VISUAL_CPP
- #else
- #pragma message("Compiling with unknown compiler...")
- #endif
-
- // Check compiler options. If this file is included in user-apps, this
- // shouldn't be needed, so that they can use what they like best.
- #ifndef ICE_DONT_CHECK_COMPILER_OPTIONS
- #ifdef COMPILER_VISUAL_CPP
- #if defined(_CHAR_UNSIGNED)
- #endif
-
- #if defined(_CPPRTTI)
- #error Please disable RTTI...
- #endif
-
- #if defined(_CPPUNWIND)
- #error Please disable exceptions...
- #endif
-
- #if defined(_MT)
- // Multithreading
- #endif
- #endif
- #endif
-
- // Check debug mode
- #ifdef DEBUG // May be defined instead of _DEBUG. Let's fix it.
- #ifndef _DEBUG
- #define _DEBUG
- #endif
- #endif
-
- #ifdef _DEBUG
- // Here you may define items for debug builds
- #endif
-
- #ifndef THIS_FILE
- #define THIS_FILE __FILE__
- #endif
-
- #ifndef ICE_NO_DLL
- #ifdef ICECORE_EXPORTS
- #define ICECORE_API __declspec(dllexport)
- #else
- #define ICECORE_API __declspec(dllimport)
- #endif
- #else
- #define ICECORE_API
- #endif
-
- // Don't override new/delete
-// #define DEFAULT_NEWDELETE
- #define DONT_TRACK_MEMORY_LEAKS
-
- #define FUNCTION extern "C"
-
- // Cosmetic stuff [mainly useful with multiple inheritance]
- #define override(base_class) virtual
-
- // Our own inline keyword, so that:
- // - we can switch to __forceinline to check it's really better or not
- // - we can remove __forceinline if the compiler doesn't support it
-// #define inline_ __forceinline
-// #define inline_ inline
-
- // Contributed by Bruce Mitchener
- #if defined(COMPILER_VISUAL_CPP)
- #define inline_ __forceinline
-// #define inline_ inline
- #elif defined(__GNUC__) && __GNUC__ < 3
- #define inline_ inline
- #elif defined(__GNUC__)
- #define inline_ inline __attribute__ ((always_inline))
- #else
- #define inline_ inline
- #endif
-
- // Down the hatch
- #pragma inline_depth( 255 )
-
- #ifdef COMPILER_VISUAL_CPP
- #pragma intrinsic(memcmp)
- #pragma intrinsic(memcpy)
- #pragma intrinsic(memset)
- #pragma intrinsic(strcat)
- #pragma intrinsic(strcmp)
- #pragma intrinsic(strcpy)
- #pragma intrinsic(strlen)
- #pragma intrinsic(abs)
- #pragma intrinsic(labs)
- #endif
-
- // ANSI compliance
- #ifdef _DEBUG
- // Remove painful warning in debug
- inline_ bool __False__(){ return false; }
- #define for if(__False__()){} else for
- #else
- #define for if(0){} else for
- #endif
-
-#endif // __ICEPREPROCESSOR_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains preprocessor stuff. This should be the first included header. + * \file IcePreprocessor.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEPREPROCESSOR_H__ +#define __ICEPREPROCESSOR_H__ + + // Check platform + #if defined( _WIN32 ) || defined( WIN32 ) + #pragma message("Compiling on Windows...") + #define PLATFORM_WINDOWS + #else + #pragma message("Compiling on unknown platform...") + #endif + + // Check compiler + #if defined(_MSC_VER) + #pragma message("Compiling with VC++...") + #define COMPILER_VISUAL_CPP + #else + #pragma message("Compiling with unknown compiler...") + #endif + + // Check compiler options. If this file is included in user-apps, this + // shouldn't be needed, so that they can use what they like best. + #ifndef ICE_DONT_CHECK_COMPILER_OPTIONS + #ifdef COMPILER_VISUAL_CPP + #if defined(_CHAR_UNSIGNED) + #endif + + #if defined(_CPPRTTI) + #error Please disable RTTI... + #endif + + #if defined(_CPPUNWIND) + #error Please disable exceptions... + #endif + + #if defined(_MT) + // Multithreading + #endif + #endif + #endif + + // Check debug mode + #ifdef DEBUG // May be defined instead of _DEBUG. Let's fix it. + #ifndef _DEBUG + #define _DEBUG + #endif + #endif + + #ifdef _DEBUG + // Here you may define items for debug builds + #endif + + #ifndef THIS_FILE + #define THIS_FILE __FILE__ + #endif + + #ifndef ICE_NO_DLL + #ifdef ICECORE_EXPORTS + #define ICECORE_API __declspec(dllexport) + #else + #define ICECORE_API __declspec(dllimport) + #endif + #else + #define ICECORE_API + #endif + + // Don't override new/delete +// #define DEFAULT_NEWDELETE + #define DONT_TRACK_MEMORY_LEAKS + + #define FUNCTION extern "C" + + // Cosmetic stuff [mainly useful with multiple inheritance] + #define override(base_class) virtual + + // Our own inline keyword, so that: + // - we can switch to __forceinline to check it's really better or not + // - we can remove __forceinline if the compiler doesn't support it +// #define inline_ __forceinline +// #define inline_ inline + + // Contributed by Bruce Mitchener + #if defined(COMPILER_VISUAL_CPP) + #define inline_ __forceinline +// #define inline_ inline + #elif defined(__GNUC__) && __GNUC__ < 3 + #define inline_ inline + #elif defined(__GNUC__) + #define inline_ inline __attribute__ ((always_inline)) + #else + #define inline_ inline + #endif + + // Down the hatch + #pragma inline_depth( 255 ) + + #ifdef COMPILER_VISUAL_CPP + #pragma intrinsic(memcmp) + #pragma intrinsic(memcpy) + #pragma intrinsic(memset) + #pragma intrinsic(strcat) + #pragma intrinsic(strcmp) + #pragma intrinsic(strcpy) + #pragma intrinsic(strlen) + #pragma intrinsic(abs) + #pragma intrinsic(labs) + #endif + + // ANSI compliance + #ifdef _DEBUG + // Remove painful warning in debug + inline_ bool __False__(){ return false; } + #define for if(__False__()){} else for + #else + #define for if(0){} else for + #endif + +#endif // __ICEPREPROCESSOR_H__ diff --git a/Opcode/Ice/IceRandom.cpp b/Opcode/Ice/IceRandom.cpp index 8593399..305721d 100644 --- a/Opcode/Ice/IceRandom.cpp +++ b/Opcode/Ice/IceRandom.cpp @@ -1,35 +1,35 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for random generators.
- * \file IceRandom.cpp
- * \author Pierre Terdiman
- * \date August, 9, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceCore;
-
-void IceCore:: SRand(udword seed)
-{
- srand(seed);
-}
-
-udword IceCore::Rand()
-{
- return rand();
-}
-
-
-static BasicRandom gRandomGenerator(42);
-
-udword IceCore::GetRandomIndex(udword max_index)
-{
- // We don't use rand() since it's limited to RAND_MAX
- udword Index = gRandomGenerator.Randomize();
- return Index % max_index;
-}
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for random generators. + * \file IceRandom.cpp + * \author Pierre Terdiman + * \date August, 9, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceCore; + +void IceCore:: SRand(udword seed) +{ + srand(seed); +} + +udword IceCore::Rand() +{ + return rand(); +} + + +static BasicRandom gRandomGenerator(42); + +udword IceCore::GetRandomIndex(udword max_index) +{ + // We don't use rand() since it's limited to RAND_MAX + udword Index = gRandomGenerator.Randomize(); + return Index % max_index; +} + diff --git a/Opcode/Ice/IceRandom.h b/Opcode/Ice/IceRandom.h index 3584769..3170b33 100644 --- a/Opcode/Ice/IceRandom.h +++ b/Opcode/Ice/IceRandom.h @@ -1,42 +1,42 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for random generators.
- * \file IceRandom.h
- * \author Pierre Terdiman
- * \date August, 9, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICERANDOM_H__
-#define __ICERANDOM_H__
-
- FUNCTION ICECORE_API void SRand(udword seed);
- FUNCTION ICECORE_API udword Rand();
-
- //! Returns a unit random floating-point value
- inline_ float UnitRandomFloat() { return float(Rand()) * ONE_OVER_RAND_MAX; }
-
- //! Returns a random index so that 0<= index < max_index
- ICECORE_API udword GetRandomIndex(udword max_index);
-
- class ICECORE_API BasicRandom
- {
- public:
-
- //! Constructor
- inline_ BasicRandom(udword seed=0) : mRnd(seed) {}
- //! Destructor
- inline_ ~BasicRandom() {}
-
- inline_ void SetSeed(udword seed) { mRnd = seed; }
- inline_ udword GetCurrentValue() const { return mRnd; }
- inline_ udword Randomize() { mRnd = mRnd * 2147001325 + 715136305; return mRnd; }
-
- private:
- udword mRnd;
- };
-
-#endif // __ICERANDOM_H__
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for random generators. + * \file IceRandom.h + * \author Pierre Terdiman + * \date August, 9, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICERANDOM_H__ +#define __ICERANDOM_H__ + + FUNCTION ICECORE_API void SRand(udword seed); + FUNCTION ICECORE_API udword Rand(); + + //! Returns a unit random floating-point value + inline_ float UnitRandomFloat() { return float(Rand()) * ONE_OVER_RAND_MAX; } + + //! Returns a random index so that 0<= index < max_index + ICECORE_API udword GetRandomIndex(udword max_index); + + class ICECORE_API BasicRandom + { + public: + + //! Constructor + inline_ BasicRandom(udword seed=0) : mRnd(seed) {} + //! Destructor + inline_ ~BasicRandom() {} + + inline_ void SetSeed(udword seed) { mRnd = seed; } + inline_ udword GetCurrentValue() const { return mRnd; } + inline_ udword Randomize() { mRnd = mRnd * 2147001325 + 715136305; return mRnd; } + + private: + udword mRnd; + }; + +#endif // __ICERANDOM_H__ + diff --git a/Opcode/Ice/IceRay.cpp b/Opcode/Ice/IceRay.cpp index 7db78a5..d7c617a 100644 --- a/Opcode/Ice/IceRay.cpp +++ b/Opcode/Ice/IceRay.cpp @@ -1,84 +1,84 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for rays.
- * \file IceRay.cpp
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Ray class.
- * A ray is a half-line P(t) = mOrig + mDir * t, with 0 <= t <= +infinity
- * \class Ray
- * \author Pierre Terdiman
- * \version 1.0
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-/*
- O = Origin = impact IcePoint
- i = normalized vector along the x axis
- j = normalized vector along the y axis = actually the normal vector in O
- D = Direction vector, norm |D| = 1
- N = Projection of D on y axis, norm |N| = normal reaction
- T = Projection of D on x axis, norm |T| = tangential reaction
- R = Reflexion vector
-
- ^y
- |
- |
- |
- _ _ _| _ _ _
- * * *|
- \ | /
- \ |N / |
- R\ | /D
- \ | / |
- \ | /
- _________\|/______*_______>x
- O T
-
- Let define theta = angle between D and N. Then cos(theta) = |N| / |D| = |N| since D is normalized.
-
- j|D = |j|*|D|*cos(theta) => |N| = j|D
-
- Then we simply have:
-
- D = N + T
-
- To compute tangential reaction :
-
- T = D - N
-
- To compute reflexion vector :
-
- R = N - T = N - (D-N) = 2*N - D
-*/
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-float Ray::SquareDistance(const IcePoint& Point, float* t) const
-{
- IcePoint Diff = Point - mOrig;
- float fT = Diff | mDir;
-
- if(fT<=0.0f)
- {
- fT = 0.0f;
- }
- else
- {
- fT /= mDir.SquareMagnitude();
- Diff -= fT*mDir;
- }
-
- if(t) *t = fT;
-
- return Diff.SquareMagnitude();
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for rays. + * \file IceRay.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Ray class. + * A ray is a half-line P(t) = mOrig + mDir * t, with 0 <= t <= +infinity + * \class Ray + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/* + O = Origin = impact IcePoint + i = normalized vector along the x axis + j = normalized vector along the y axis = actually the normal vector in O + D = Direction vector, norm |D| = 1 + N = Projection of D on y axis, norm |N| = normal reaction + T = Projection of D on x axis, norm |T| = tangential reaction + R = Reflexion vector + + ^y + | + | + | + _ _ _| _ _ _ + * * *| + \ | / + \ |N / | + R\ | /D + \ | / | + \ | / + _________\|/______*_______>x + O T + + Let define theta = angle between D and N. Then cos(theta) = |N| / |D| = |N| since D is normalized. + + j|D = |j|*|D|*cos(theta) => |N| = j|D + + Then we simply have: + + D = N + T + + To compute tangential reaction : + + T = D - N + + To compute reflexion vector : + + R = N - T = N - (D-N) = 2*N - D +*/ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +float Ray::SquareDistance(const IcePoint& Point, float* t) const +{ + IcePoint Diff = Point - mOrig; + float fT = Diff | mDir; + + if(fT<=0.0f) + { + fT = 0.0f; + } + else + { + fT /= mDir.SquareMagnitude(); + Diff -= fT*mDir; + } + + if(t) *t = fT; + + return Diff.SquareMagnitude(); +} diff --git a/Opcode/Ice/IceRay.h b/Opcode/Ice/IceRay.h index c40552b..4c0d6d9 100644 --- a/Opcode/Ice/IceRay.h +++ b/Opcode/Ice/IceRay.h @@ -1,98 +1,98 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for rays.
- * \file IceRay.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICERAY_H__
-#define __ICERAY_H__
-
- class ICEMATHS_API Ray
- {
- public:
- //! Constructor
- inline_ Ray() {}
- //! Constructor
- inline_ Ray(const IcePoint& orig, const IcePoint& dir) : mOrig(orig), mDir(dir) {}
- //! Copy constructor
- inline_ Ray(const Ray& ray) : mOrig(ray.mOrig), mDir(ray.mDir) {}
- //! Destructor
- inline_ ~Ray() {}
-
- float SquareDistance(const IcePoint& point, float* t=null) const;
- inline_ float Distance(const IcePoint& point, float* t=null) const { return sqrtf(SquareDistance(point, t)); }
-
- IcePoint mOrig; //!< Ray origin
- IcePoint mDir; //!< Normalized direction
- };
-
- inline_ void ComputeReflexionVector(IcePoint& reflected, const IcePoint& incoming_dir, const IcePoint& outward_normal)
- {
- reflected = incoming_dir - outward_normal * 2.0f * (incoming_dir|outward_normal);
- }
-
- inline_ void ComputeReflexionVector(IcePoint& reflected, const IcePoint& source, const IcePoint& impact, const IcePoint& normal)
- {
- IcePoint V = impact - source;
- reflected = V - normal * 2.0f * (V|normal);
- }
-
- inline_ void DecomposeVector(IcePoint& normal_compo, IcePoint& tangent_compo, const IcePoint& outward_dir, const IcePoint& outward_normal)
- {
- normal_compo = outward_normal * (outward_dir|outward_normal);
- tangent_compo = outward_dir - normal_compo;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Transforms a direction vector from world space to local space
- * \param local_dir [out] direction vector in local space
- * \param world_dir [in] direction vector in world space
- * \param world [in] world transform
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void ComputeLocalDirection(IcePoint& local_dir, const IcePoint& world_dir, const Matrix4x4& world)
- {
- // Get world direction back in local space
-// Matrix3x3 InvWorld = world;
-// local_dir = InvWorld * world_dir;
- local_dir = Matrix3x3(world) * world_dir;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Transforms a position vector from world space to local space
- * \param local_pt [out] position vector in local space
- * \param world_pt [in] position vector in world space
- * \param world [in] world transform
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void ComputeLocalPoint(IcePoint& local_pt, const IcePoint& world_pt, const Matrix4x4& world)
- {
- // Get world vertex back in local space
- Matrix4x4 InvWorld = world;
- InvWorld.Invert();
- local_pt = world_pt * InvWorld;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Transforms a ray from world space to local space
- * \param local_ray [out] ray in local space
- * \param world_ray [in] ray in world space
- * \param world [in] world transform
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void ComputeLocalRay(Ray& local_ray, const Ray& world_ray, const Matrix4x4& world)
- {
- // Get world ray back in local space
- ComputeLocalDirection(local_ray.mDir, world_ray.mDir, world);
- ComputeLocalPoint(local_ray.mOrig, world_ray.mOrig, world);
- }
-
-#endif // __ICERAY_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for rays. + * \file IceRay.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICERAY_H__ +#define __ICERAY_H__ + + class ICEMATHS_API Ray + { + public: + //! Constructor + inline_ Ray() {} + //! Constructor + inline_ Ray(const IcePoint& orig, const IcePoint& dir) : mOrig(orig), mDir(dir) {} + //! Copy constructor + inline_ Ray(const Ray& ray) : mOrig(ray.mOrig), mDir(ray.mDir) {} + //! Destructor + inline_ ~Ray() {} + + float SquareDistance(const IcePoint& point, float* t=null) const; + inline_ float Distance(const IcePoint& point, float* t=null) const { return sqrtf(SquareDistance(point, t)); } + + IcePoint mOrig; //!< Ray origin + IcePoint mDir; //!< Normalized direction + }; + + inline_ void ComputeReflexionVector(IcePoint& reflected, const IcePoint& incoming_dir, const IcePoint& outward_normal) + { + reflected = incoming_dir - outward_normal * 2.0f * (incoming_dir|outward_normal); + } + + inline_ void ComputeReflexionVector(IcePoint& reflected, const IcePoint& source, const IcePoint& impact, const IcePoint& normal) + { + IcePoint V = impact - source; + reflected = V - normal * 2.0f * (V|normal); + } + + inline_ void DecomposeVector(IcePoint& normal_compo, IcePoint& tangent_compo, const IcePoint& outward_dir, const IcePoint& outward_normal) + { + normal_compo = outward_normal * (outward_dir|outward_normal); + tangent_compo = outward_dir - normal_compo; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a direction vector from world space to local space + * \param local_dir [out] direction vector in local space + * \param world_dir [in] direction vector in world space + * \param world [in] world transform + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void ComputeLocalDirection(IcePoint& local_dir, const IcePoint& world_dir, const Matrix4x4& world) + { + // Get world direction back in local space +// Matrix3x3 InvWorld = world; +// local_dir = InvWorld * world_dir; + local_dir = Matrix3x3(world) * world_dir; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a position vector from world space to local space + * \param local_pt [out] position vector in local space + * \param world_pt [in] position vector in world space + * \param world [in] world transform + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void ComputeLocalPoint(IcePoint& local_pt, const IcePoint& world_pt, const Matrix4x4& world) + { + // Get world vertex back in local space + Matrix4x4 InvWorld = world; + InvWorld.Invert(); + local_pt = world_pt * InvWorld; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a ray from world space to local space + * \param local_ray [out] ray in local space + * \param world_ray [in] ray in world space + * \param world [in] world transform + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void ComputeLocalRay(Ray& local_ray, const Ray& world_ray, const Matrix4x4& world) + { + // Get world ray back in local space + ComputeLocalDirection(local_ray.mDir, world_ray.mDir, world); + ComputeLocalPoint(local_ray.mOrig, world_ray.mOrig, world); + } + +#endif // __ICERAY_H__ diff --git a/Opcode/Ice/IceRevisitedRadix.cpp b/Opcode/Ice/IceRevisitedRadix.cpp index c9eca90..b654995 100644 --- a/Opcode/Ice/IceRevisitedRadix.cpp +++ b/Opcode/Ice/IceRevisitedRadix.cpp @@ -1,520 +1,520 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains source code from the article "Radix Sort Revisited".
- * \file IceRevisitedRadix.cpp
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Revisited Radix Sort.
- * This is my new radix routine:
- * - it uses indices and doesn't recopy the values anymore, hence wasting less ram
- * - it creates all the histograms in one run instead of four
- * - it sorts words faster than dwords and bytes faster than words
- * - it correctly sorts negative floating-point values by patching the offsets
- * - it automatically takes advantage of temporal coherence
- * - multiple keys support is a side effect of temporal coherence
- * - it may be worth recoding in asm... (mainly to use FCOMI, FCMOV, etc) [it's probably memory-bound anyway]
- *
- * History:
- * - 08.15.98: very first version
- * - 04.04.00: recoded for the radix article
- * - 12.xx.00: code lifting
- * - 09.18.01: faster CHECK_PASS_VALIDITY thanks to Mark D. Shattuck (who provided other tips, not included here)
- * - 10.11.01: added local ram support
- * - 01.20.02: bugfix! In very particular cases the last pass was skipped in the float code-path, leading to incorrect sorting......
- * - 01.02.02: - "mIndices" renamed => "mRanks". That's a rank sorter after all.
- * - ranks are not "reset" anymore, but implicit on first calls
- * - 07.05.02: - offsets rewritten with one less indirection.
- * - 11.03.02: - "bool" replaced with RadixHint enum
- *
- * \class RadixSort
- * \author Pierre Terdiman
- * \version 1.4
- * \date August, 15, 1998
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-/*
-To do:
- - add an offset parameter between two input values (avoid some data recopy sometimes)
- - unroll ? asm ?
- - 11 bits trick & 3 passes as Michael did
- - prefetch stuff the day I have a P3
- - make a version with 16-bits indices ?
-*/
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceCore;
-
-#define INVALIDATE_RANKS mCurrentSize|=0x80000000
-#define VALIDATE_RANKS mCurrentSize&=0x7fffffff
-#define CURRENT_SIZE (mCurrentSize&0x7fffffff)
-#define INVALID_RANKS (mCurrentSize&0x80000000)
-
-#define CHECK_RESIZE(n) \
- if(n!=mPreviousSize) \
- { \
- if(n>mCurrentSize) Resize(n); \
- else ResetRanks(); \
- mPreviousSize = n; \
- }
-
-#define CREATE_HISTOGRAMS(type, buffer) \
- /* Clear counters/histograms */ \
- ZeroMemory(mHistogram, 256*4*sizeof(udword)); \
- \
- /* Prepare to count */ \
- ubyte* p = (ubyte*)input; \
- ubyte* pe = &p[nb*4]; \
- udword* h0= &mHistogram[0]; /* Histogram for first pass (LSB) */ \
- udword* h1= &mHistogram[256]; /* Histogram for second pass */ \
- udword* h2= &mHistogram[512]; /* Histogram for third pass */ \
- udword* h3= &mHistogram[768]; /* Histogram for last pass (MSB) */ \
- \
- bool AlreadySorted = true; /* Optimism... */ \
- \
- if(INVALID_RANKS) \
- { \
- /* Prepare for temporal coherence */ \
- type* Running = (type*)buffer; \
- type PrevVal = *Running; \
- \
- while(p!=pe) \
- { \
- /* Read input buffer in previous sorted order */ \
- type Val = *Running++; \
- /* Check whether already sorted or not */ \
- if(Val<PrevVal) { AlreadySorted = false; break; } /* Early out */ \
- /* Update for next iteration */ \
- PrevVal = Val; \
- \
- /* Create histograms */ \
- h0[*p++]++; h1[*p++]++; h2[*p++]++; h3[*p++]++; \
- } \
- \
- /* If all input values are already sorted, we just have to return and leave the */ \
- /* previous list unchanged. That way the routine may take advantage of temporal */ \
- /* coherence, for example when used to sort transparent faces. */ \
- if(AlreadySorted) \
- { \
- mNbHits++; \
- for(udword i=0;i<nb;i++) mRanks[i] = i; \
- return *this; \
- } \
- } \
- else \
- { \
- /* Prepare for temporal coherence */ \
- udword* Indices = mRanks; \
- type PrevVal = (type)buffer[*Indices]; \
- \
- while(p!=pe) \
- { \
- /* Read input buffer in previous sorted order */ \
- type Val = (type)buffer[*Indices++]; \
- /* Check whether already sorted or not */ \
- if(Val<PrevVal) { AlreadySorted = false; break; } /* Early out */ \
- /* Update for next iteration */ \
- PrevVal = Val; \
- \
- /* Create histograms */ \
- h0[*p++]++; h1[*p++]++; h2[*p++]++; h3[*p++]++; \
- } \
- \
- /* If all input values are already sorted, we just have to return and leave the */ \
- /* previous list unchanged. That way the routine may take advantage of temporal */ \
- /* coherence, for example when used to sort transparent faces. */ \
- if(AlreadySorted) { mNbHits++; return *this; } \
- } \
- \
- /* Else there has been an early out and we must finish computing the histograms */ \
- while(p!=pe) \
- { \
- /* Create histograms without the previous overhead */ \
- h0[*p++]++; h1[*p++]++; h2[*p++]++; h3[*p++]++; \
- }
-
-#define CHECK_PASS_VALIDITY(pass) \
- /* Shortcut to current counters */ \
- udword* CurCount = &mHistogram[pass<<8]; \
- \
- /* Reset flag. The sorting pass is supposed to be performed. (default) */ \
- bool PerformPass = true; \
- \
- /* Check pass validity */ \
- \
- /* If all values have the same byte, sorting is useless. */ \
- /* It may happen when sorting bytes or words instead of dwords. */ \
- /* This routine actually sorts words faster than dwords, and bytes */ \
- /* faster than words. Standard running time (O(4*n))is reduced to O(2*n) */ \
- /* for words and O(n) for bytes. Running time for floats depends on actual values... */ \
- \
- /* Get first byte */ \
- ubyte UniqueVal = *(((ubyte*)input)+pass); \
- \
- /* Check that byte's counter */ \
- if(CurCount[UniqueVal]==nb) PerformPass=false;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-RadixSort::RadixSort() : mRanks(null), mRanks2(null), mCurrentSize(0), mTotalCalls(0), mNbHits(0)
-{
-#ifndef RADIX_LOCAL_RAM
- // Allocate input-independent ram
- mHistogram = new udword[256*4];
- mOffset = new udword[256];
-#endif
- // Initialize indices
- INVALIDATE_RANKS;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-RadixSort::~RadixSort()
-{
- // Release everything
-#ifndef RADIX_LOCAL_RAM
- DELETEARRAY(mOffset);
- DELETEARRAY(mHistogram);
-#endif
- DELETEARRAY(mRanks2);
- DELETEARRAY(mRanks);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Resizes the inner lists.
- * \param nb [in] new size (number of dwords)
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool RadixSort::Resize(udword nb)
-{
- // Free previously used ram
- DELETEARRAY(mRanks2);
- DELETEARRAY(mRanks);
-
- // Get some fresh one
- mRanks = new udword[nb]; CHECKALLOC(mRanks);
- mRanks2 = new udword[nb]; CHECKALLOC(mRanks2);
-
- return true;
-}
-
-inline_ void RadixSort::CheckResize(udword nb)
-{
- udword CurSize = CURRENT_SIZE;
- if(nb!=CurSize)
- {
- if(nb>CurSize) Resize(nb);
- mCurrentSize = nb;
- INVALIDATE_RANKS;
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Main sort routine.
- * This one is for integer values. After the call, mRanks contains a list of indices in sorted order, i.e. in the order you may process your data.
- * \param input [in] a list of integer values to sort
- * \param nb [in] number of values to sort, must be < 2^31
- * \param hint [in] RADIX_SIGNED to handle negative values, RADIX_UNSIGNED if you know your input buffer only contains positive values
- * \return Self-Reference
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-RadixSort& RadixSort::Sort(const udword* input, udword nb, RadixHint hint)
-{
- // Checkings
- if(!input || !nb || nb&0x80000000) return *this;
-
- // Stats
- mTotalCalls++;
-
- // Resize lists if needed
- CheckResize(nb);
-
-#ifdef RADIX_LOCAL_RAM
- // Allocate histograms & offsets on the stack
- udword mHistogram[256*4];
-// udword mOffset[256];
- udword* mLink[256];
-#endif
-
- // Create histograms (counters). Counters for all passes are created in one run.
- // Pros: read input buffer once instead of four times
- // Cons: mHistogram is 4Kb instead of 1Kb
- // We must take care of signed/unsigned values for temporal coherence.... I just
- // have 2 code paths even if just a single opcode changes. Self-modifying code, someone?
- if(hint==RADIX_UNSIGNED) { CREATE_HISTOGRAMS(udword, input); }
- else { CREATE_HISTOGRAMS(sdword, input); }
-
- // Compute #negative values involved if needed
- udword NbNegativeValues = 0;
- if(hint==RADIX_SIGNED)
- {
- // An efficient way to compute the number of negatives values we'll have to deal with is simply to sum the 128
- // last values of the last histogram. Last histogram because that's the one for the Most Significant Byte,
- // responsible for the sign. 128 last values because the 128 first ones are related to positive numbers.
- udword* h3= &mHistogram[768];
- for(udword i=128;i<256;i++) NbNegativeValues += h3[i]; // 768 for last histogram, 128 for negative part
- }
-
- // Radix sort, j is the pass number (0=LSB, 3=MSB)
- for(udword j=0;j<4;j++)
- {
- CHECK_PASS_VALIDITY(j);
-
- // Sometimes the fourth (negative) pass is skipped because all numbers are negative and the MSB is 0xFF (for example). This is
- // not a problem, numbers are correctly sorted anyway.
- if(PerformPass)
- {
- // Should we care about negative values?
- if(j!=3 || hint==RADIX_UNSIGNED)
- {
- // Here we deal with positive values only
-
- // Create offsets
-// mOffset[0] = 0;
-// for(udword i=1;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1];
- mLink[0] = mRanks2;
- for(udword i=1;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1];
- }
- else
- {
- // This is a special case to correctly handle negative integers. They're sorted in the right order but at the wrong place.
-
- // Create biased offsets, in order for negative numbers to be sorted as well
-// mOffset[0] = NbNegativeValues; // First positive number takes place after the negative ones
- mLink[0] = &mRanks2[NbNegativeValues]; // First positive number takes place after the negative ones
-// for(udword i=1;i<128;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers
- for(udword i=1;i<128;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers
-
- // Fixing the wrong place for negative values
-// mOffset[128] = 0;
- mLink[128] = mRanks2;
-// for(i=129;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1];
- for(udword i=129;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1];
- }
-
- // Perform Radix Sort
- ubyte* InputBytes = (ubyte*)input;
- InputBytes += j;
- if(INVALID_RANKS)
- {
-// for(udword i=0;i<nb;i++) mRanks2[mOffset[InputBytes[i<<2]]++] = i;
- for(udword i=0;i<nb;i++) *mLink[InputBytes[i<<2]]++ = i;
- VALIDATE_RANKS;
- }
- else
- {
- udword* Indices = mRanks;
- udword* IndicesEnd = &mRanks[nb];
- while(Indices!=IndicesEnd)
- {
- udword id = *Indices++;
-// mRanks2[mOffset[InputBytes[id<<2]]++] = id;
- *mLink[InputBytes[id<<2]]++ = id;
- }
- }
-
- // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap.
- udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp;
- }
- }
- return *this;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Main sort routine.
- * This one is for floating-point values. After the call, mRanks contains a list of indices in sorted order, i.e. in the order you may process your data.
- * \param input [in] a list of floating-point values to sort
- * \param nb [in] number of values to sort, must be < 2^31
- * \return Self-Reference
- * \warning only sorts IEEE floating-point values
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-RadixSort& RadixSort::Sort(const float* input2, udword nb)
-{
- // Checkings
- if(!input2 || !nb || nb&0x80000000) return *this;
-
- // Stats
- mTotalCalls++;
-
- udword* input = (udword*)input2;
-
- // Resize lists if needed
- CheckResize(nb);
-
-#ifdef RADIX_LOCAL_RAM
- // Allocate histograms & offsets on the stack
- udword mHistogram[256*4];
-// udword mOffset[256];
- udword* mLink[256];
-#endif
-
- // Create histograms (counters). Counters for all passes are created in one run.
- // Pros: read input buffer once instead of four times
- // Cons: mHistogram is 4Kb instead of 1Kb
- // Floating-point values are always supposed to be signed values, so there's only one code path there.
- // Please note the floating point comparison needed for temporal coherence! Although the resulting asm code
- // is dreadful, this is surprisingly not such a performance hit - well, I suppose that's a big one on first
- // generation Pentiums....We can't make comparison on integer representations because, as Chris said, it just
- // wouldn't work with mixed positive/negative values....
- { CREATE_HISTOGRAMS(float, input2); }
-
- // Compute #negative values involved if needed
- udword NbNegativeValues = 0;
- // An efficient way to compute the number of negatives values we'll have to deal with is simply to sum the 128
- // last values of the last histogram. Last histogram because that's the one for the Most Significant Byte,
- // responsible for the sign. 128 last values because the 128 first ones are related to positive numbers.
- udword* h3= &mHistogram[768];
- for(udword i=128;i<256;i++) NbNegativeValues += h3[i]; // 768 for last histogram, 128 for negative part
-
- // Radix sort, j is the pass number (0=LSB, 3=MSB)
- for(udword j=0;j<4;j++)
- {
- // Should we care about negative values?
- if(j!=3)
- {
- // Here we deal with positive values only
- CHECK_PASS_VALIDITY(j);
-
- if(PerformPass)
- {
- // Create offsets
-// mOffset[0] = 0;
- mLink[0] = mRanks2;
-// for(udword i=1;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1];
- for(udword i=1;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1];
-
- // Perform Radix Sort
- ubyte* InputBytes = (ubyte*)input;
- InputBytes += j;
- if(INVALID_RANKS)
- {
-// for(i=0;i<nb;i++) mRanks2[mOffset[InputBytes[i<<2]]++] = i;
- for(udword i=0;i<nb;i++) *mLink[InputBytes[i<<2]]++ = i;
- VALIDATE_RANKS;
- }
- else
- {
- udword* Indices = mRanks;
- udword* IndicesEnd = &mRanks[nb];
- while(Indices!=IndicesEnd)
- {
- udword id = *Indices++;
-// mRanks2[mOffset[InputBytes[id<<2]]++] = id;
- *mLink[InputBytes[id<<2]]++ = id;
- }
- }
-
- // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap.
- udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp;
- }
- }
- else
- {
- // This is a special case to correctly handle negative values
- CHECK_PASS_VALIDITY(j);
-
- if(PerformPass)
- {
- // Create biased offsets, in order for negative numbers to be sorted as well
-// mOffset[0] = NbNegativeValues; // First positive number takes place after the negative ones
- mLink[0] = &mRanks2[NbNegativeValues]; // First positive number takes place after the negative ones
-// for(udword i=1;i<128;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers
- for(udword i=1;i<128;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers
-
- // We must reverse the sorting order for negative numbers!
-// mOffset[255] = 0;
- mLink[255] = mRanks2;
-// for(i=0;i<127;i++) mOffset[254-i] = mOffset[255-i] + CurCount[255-i]; // Fixing the wrong order for negative values
- for(udword i=0;i<127;i++) mLink[254-i] = mLink[255-i] + CurCount[255-i]; // Fixing the wrong order for negative values
-// for(i=128;i<256;i++) mOffset[i] += CurCount[i]; // Fixing the wrong place for negative values
- for(udword i=128;i<256;i++) mLink[i] += CurCount[i]; // Fixing the wrong place for negative values
-
- // Perform Radix Sort
- if(INVALID_RANKS)
- {
- for(udword i=0;i<nb;i++)
- {
- udword Radix = input[i]>>24; // Radix byte, same as above. AND is useless here (udword).
- // ### cmp to be killed. Not good. Later.
-// if(Radix<128) mRanks2[mOffset[Radix]++] = i; // Number is positive, same as above
-// else mRanks2[--mOffset[Radix]] = i; // Number is negative, flip the sorting order
- if(Radix<128) *mLink[Radix]++ = i; // Number is positive, same as above
- else *(--mLink[Radix]) = i; // Number is negative, flip the sorting order
- }
- VALIDATE_RANKS;
- }
- else
- {
- for(udword i=0;i<nb;i++)
- {
- udword Radix = input[mRanks[i]]>>24; // Radix byte, same as above. AND is useless here (udword).
- // ### cmp to be killed. Not good. Later.
-// if(Radix<128) mRanks2[mOffset[Radix]++] = mRanks[i]; // Number is positive, same as above
-// else mRanks2[--mOffset[Radix]] = mRanks[i]; // Number is negative, flip the sorting order
- if(Radix<128) *mLink[Radix]++ = mRanks[i]; // Number is positive, same as above
- else *(--mLink[Radix]) = mRanks[i]; // Number is negative, flip the sorting order
- }
- }
- // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap.
- udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp;
- }
- else
- {
- // The pass is useless, yet we still have to reverse the order of current list if all values are negative.
- if(UniqueVal>=128)
- {
- if(INVALID_RANKS)
- {
- // ###Possible?
- for(udword i=0;i<nb;i++) mRanks2[i] = nb-i-1;
- VALIDATE_RANKS;
- }
- else
- {
- for(udword i=0;i<nb;i++) mRanks2[i] = mRanks[nb-i-1];
- }
-
- // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap.
- udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp;
- }
- }
- }
- }
- return *this;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets the ram used.
- * \return memory used in bytes
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword RadixSort::GetUsedRam() const
-{
- udword UsedRam = sizeof(RadixSort);
-#ifndef RADIX_LOCAL_RAM
- UsedRam += 256*4*sizeof(udword); // Histograms
- UsedRam += 256*sizeof(udword); // Offsets
-#endif
- UsedRam += 2*CURRENT_SIZE*sizeof(udword); // 2 lists of indices
- return UsedRam;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains source code from the article "Radix Sort Revisited". + * \file IceRevisitedRadix.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Revisited Radix Sort. + * This is my new radix routine: + * - it uses indices and doesn't recopy the values anymore, hence wasting less ram + * - it creates all the histograms in one run instead of four + * - it sorts words faster than dwords and bytes faster than words + * - it correctly sorts negative floating-point values by patching the offsets + * - it automatically takes advantage of temporal coherence + * - multiple keys support is a side effect of temporal coherence + * - it may be worth recoding in asm... (mainly to use FCOMI, FCMOV, etc) [it's probably memory-bound anyway] + * + * History: + * - 08.15.98: very first version + * - 04.04.00: recoded for the radix article + * - 12.xx.00: code lifting + * - 09.18.01: faster CHECK_PASS_VALIDITY thanks to Mark D. Shattuck (who provided other tips, not included here) + * - 10.11.01: added local ram support + * - 01.20.02: bugfix! In very particular cases the last pass was skipped in the float code-path, leading to incorrect sorting...... + * - 01.02.02: - "mIndices" renamed => "mRanks". That's a rank sorter after all. + * - ranks are not "reset" anymore, but implicit on first calls + * - 07.05.02: - offsets rewritten with one less indirection. + * - 11.03.02: - "bool" replaced with RadixHint enum + * + * \class RadixSort + * \author Pierre Terdiman + * \version 1.4 + * \date August, 15, 1998 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/* +To do: + - add an offset parameter between two input values (avoid some data recopy sometimes) + - unroll ? asm ? + - 11 bits trick & 3 passes as Michael did + - prefetch stuff the day I have a P3 + - make a version with 16-bits indices ? +*/ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceCore; + +#define INVALIDATE_RANKS mCurrentSize|=0x80000000 +#define VALIDATE_RANKS mCurrentSize&=0x7fffffff +#define CURRENT_SIZE (mCurrentSize&0x7fffffff) +#define INVALID_RANKS (mCurrentSize&0x80000000) + +#define CHECK_RESIZE(n) \ + if(n!=mPreviousSize) \ + { \ + if(n>mCurrentSize) Resize(n); \ + else ResetRanks(); \ + mPreviousSize = n; \ + } + +#define CREATE_HISTOGRAMS(type, buffer) \ + /* Clear counters/histograms */ \ + ZeroMemory(mHistogram, 256*4*sizeof(udword)); \ + \ + /* Prepare to count */ \ + ubyte* p = (ubyte*)input; \ + ubyte* pe = &p[nb*4]; \ + udword* h0= &mHistogram[0]; /* Histogram for first pass (LSB) */ \ + udword* h1= &mHistogram[256]; /* Histogram for second pass */ \ + udword* h2= &mHistogram[512]; /* Histogram for third pass */ \ + udword* h3= &mHistogram[768]; /* Histogram for last pass (MSB) */ \ + \ + bool AlreadySorted = true; /* Optimism... */ \ + \ + if(INVALID_RANKS) \ + { \ + /* Prepare for temporal coherence */ \ + type* Running = (type*)buffer; \ + type PrevVal = *Running; \ + \ + while(p!=pe) \ + { \ + /* Read input buffer in previous sorted order */ \ + type Val = *Running++; \ + /* Check whether already sorted or not */ \ + if(Val<PrevVal) { AlreadySorted = false; break; } /* Early out */ \ + /* Update for next iteration */ \ + PrevVal = Val; \ + \ + /* Create histograms */ \ + h0[*p++]++; h1[*p++]++; h2[*p++]++; h3[*p++]++; \ + } \ + \ + /* If all input values are already sorted, we just have to return and leave the */ \ + /* previous list unchanged. That way the routine may take advantage of temporal */ \ + /* coherence, for example when used to sort transparent faces. */ \ + if(AlreadySorted) \ + { \ + mNbHits++; \ + for(udword i=0;i<nb;i++) mRanks[i] = i; \ + return *this; \ + } \ + } \ + else \ + { \ + /* Prepare for temporal coherence */ \ + udword* Indices = mRanks; \ + type PrevVal = (type)buffer[*Indices]; \ + \ + while(p!=pe) \ + { \ + /* Read input buffer in previous sorted order */ \ + type Val = (type)buffer[*Indices++]; \ + /* Check whether already sorted or not */ \ + if(Val<PrevVal) { AlreadySorted = false; break; } /* Early out */ \ + /* Update for next iteration */ \ + PrevVal = Val; \ + \ + /* Create histograms */ \ + h0[*p++]++; h1[*p++]++; h2[*p++]++; h3[*p++]++; \ + } \ + \ + /* If all input values are already sorted, we just have to return and leave the */ \ + /* previous list unchanged. That way the routine may take advantage of temporal */ \ + /* coherence, for example when used to sort transparent faces. */ \ + if(AlreadySorted) { mNbHits++; return *this; } \ + } \ + \ + /* Else there has been an early out and we must finish computing the histograms */ \ + while(p!=pe) \ + { \ + /* Create histograms without the previous overhead */ \ + h0[*p++]++; h1[*p++]++; h2[*p++]++; h3[*p++]++; \ + } + +#define CHECK_PASS_VALIDITY(pass) \ + /* Shortcut to current counters */ \ + udword* CurCount = &mHistogram[pass<<8]; \ + \ + /* Reset flag. The sorting pass is supposed to be performed. (default) */ \ + bool PerformPass = true; \ + \ + /* Check pass validity */ \ + \ + /* If all values have the same byte, sorting is useless. */ \ + /* It may happen when sorting bytes or words instead of dwords. */ \ + /* This routine actually sorts words faster than dwords, and bytes */ \ + /* faster than words. Standard running time (O(4*n))is reduced to O(2*n) */ \ + /* for words and O(n) for bytes. Running time for floats depends on actual values... */ \ + \ + /* Get first byte */ \ + ubyte UniqueVal = *(((ubyte*)input)+pass); \ + \ + /* Check that byte's counter */ \ + if(CurCount[UniqueVal]==nb) PerformPass=false; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RadixSort::RadixSort() : mRanks(null), mRanks2(null), mCurrentSize(0), mTotalCalls(0), mNbHits(0) +{ +#ifndef RADIX_LOCAL_RAM + // Allocate input-independent ram + mHistogram = new udword[256*4]; + mOffset = new udword[256]; +#endif + // Initialize indices + INVALIDATE_RANKS; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RadixSort::~RadixSort() +{ + // Release everything +#ifndef RADIX_LOCAL_RAM + DELETEARRAY(mOffset); + DELETEARRAY(mHistogram); +#endif + DELETEARRAY(mRanks2); + DELETEARRAY(mRanks); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Resizes the inner lists. + * \param nb [in] new size (number of dwords) + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool RadixSort::Resize(udword nb) +{ + // Free previously used ram + DELETEARRAY(mRanks2); + DELETEARRAY(mRanks); + + // Get some fresh one + mRanks = new udword[nb]; CHECKALLOC(mRanks); + mRanks2 = new udword[nb]; CHECKALLOC(mRanks2); + + return true; +} + +inline_ void RadixSort::CheckResize(udword nb) +{ + udword CurSize = CURRENT_SIZE; + if(nb!=CurSize) + { + if(nb>CurSize) Resize(nb); + mCurrentSize = nb; + INVALIDATE_RANKS; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Main sort routine. + * This one is for integer values. After the call, mRanks contains a list of indices in sorted order, i.e. in the order you may process your data. + * \param input [in] a list of integer values to sort + * \param nb [in] number of values to sort, must be < 2^31 + * \param hint [in] RADIX_SIGNED to handle negative values, RADIX_UNSIGNED if you know your input buffer only contains positive values + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RadixSort& RadixSort::Sort(const udword* input, udword nb, RadixHint hint) +{ + // Checkings + if(!input || !nb || nb&0x80000000) return *this; + + // Stats + mTotalCalls++; + + // Resize lists if needed + CheckResize(nb); + +#ifdef RADIX_LOCAL_RAM + // Allocate histograms & offsets on the stack + udword mHistogram[256*4]; +// udword mOffset[256]; + udword* mLink[256]; +#endif + + // Create histograms (counters). Counters for all passes are created in one run. + // Pros: read input buffer once instead of four times + // Cons: mHistogram is 4Kb instead of 1Kb + // We must take care of signed/unsigned values for temporal coherence.... I just + // have 2 code paths even if just a single opcode changes. Self-modifying code, someone? + if(hint==RADIX_UNSIGNED) { CREATE_HISTOGRAMS(udword, input); } + else { CREATE_HISTOGRAMS(sdword, input); } + + // Compute #negative values involved if needed + udword NbNegativeValues = 0; + if(hint==RADIX_SIGNED) + { + // An efficient way to compute the number of negatives values we'll have to deal with is simply to sum the 128 + // last values of the last histogram. Last histogram because that's the one for the Most Significant Byte, + // responsible for the sign. 128 last values because the 128 first ones are related to positive numbers. + udword* h3= &mHistogram[768]; + for(udword i=128;i<256;i++) NbNegativeValues += h3[i]; // 768 for last histogram, 128 for negative part + } + + // Radix sort, j is the pass number (0=LSB, 3=MSB) + for(udword j=0;j<4;j++) + { + CHECK_PASS_VALIDITY(j); + + // Sometimes the fourth (negative) pass is skipped because all numbers are negative and the MSB is 0xFF (for example). This is + // not a problem, numbers are correctly sorted anyway. + if(PerformPass) + { + // Should we care about negative values? + if(j!=3 || hint==RADIX_UNSIGNED) + { + // Here we deal with positive values only + + // Create offsets +// mOffset[0] = 0; +// for(udword i=1;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; + mLink[0] = mRanks2; + for(udword i=1;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; + } + else + { + // This is a special case to correctly handle negative integers. They're sorted in the right order but at the wrong place. + + // Create biased offsets, in order for negative numbers to be sorted as well +// mOffset[0] = NbNegativeValues; // First positive number takes place after the negative ones + mLink[0] = &mRanks2[NbNegativeValues]; // First positive number takes place after the negative ones +// for(udword i=1;i<128;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers + for(udword i=1;i<128;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers + + // Fixing the wrong place for negative values +// mOffset[128] = 0; + mLink[128] = mRanks2; +// for(i=129;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; + for(udword i=129;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; + } + + // Perform Radix Sort + ubyte* InputBytes = (ubyte*)input; + InputBytes += j; + if(INVALID_RANKS) + { +// for(udword i=0;i<nb;i++) mRanks2[mOffset[InputBytes[i<<2]]++] = i; + for(udword i=0;i<nb;i++) *mLink[InputBytes[i<<2]]++ = i; + VALIDATE_RANKS; + } + else + { + udword* Indices = mRanks; + udword* IndicesEnd = &mRanks[nb]; + while(Indices!=IndicesEnd) + { + udword id = *Indices++; +// mRanks2[mOffset[InputBytes[id<<2]]++] = id; + *mLink[InputBytes[id<<2]]++ = id; + } + } + + // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. + udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; + } + } + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Main sort routine. + * This one is for floating-point values. After the call, mRanks contains a list of indices in sorted order, i.e. in the order you may process your data. + * \param input [in] a list of floating-point values to sort + * \param nb [in] number of values to sort, must be < 2^31 + * \return Self-Reference + * \warning only sorts IEEE floating-point values + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RadixSort& RadixSort::Sort(const float* input2, udword nb) +{ + // Checkings + if(!input2 || !nb || nb&0x80000000) return *this; + + // Stats + mTotalCalls++; + + udword* input = (udword*)input2; + + // Resize lists if needed + CheckResize(nb); + +#ifdef RADIX_LOCAL_RAM + // Allocate histograms & offsets on the stack + udword mHistogram[256*4]; +// udword mOffset[256]; + udword* mLink[256]; +#endif + + // Create histograms (counters). Counters for all passes are created in one run. + // Pros: read input buffer once instead of four times + // Cons: mHistogram is 4Kb instead of 1Kb + // Floating-point values are always supposed to be signed values, so there's only one code path there. + // Please note the floating point comparison needed for temporal coherence! Although the resulting asm code + // is dreadful, this is surprisingly not such a performance hit - well, I suppose that's a big one on first + // generation Pentiums....We can't make comparison on integer representations because, as Chris said, it just + // wouldn't work with mixed positive/negative values.... + { CREATE_HISTOGRAMS(float, input2); } + + // Compute #negative values involved if needed + udword NbNegativeValues = 0; + // An efficient way to compute the number of negatives values we'll have to deal with is simply to sum the 128 + // last values of the last histogram. Last histogram because that's the one for the Most Significant Byte, + // responsible for the sign. 128 last values because the 128 first ones are related to positive numbers. + udword* h3= &mHistogram[768]; + for(udword i=128;i<256;i++) NbNegativeValues += h3[i]; // 768 for last histogram, 128 for negative part + + // Radix sort, j is the pass number (0=LSB, 3=MSB) + for(udword j=0;j<4;j++) + { + // Should we care about negative values? + if(j!=3) + { + // Here we deal with positive values only + CHECK_PASS_VALIDITY(j); + + if(PerformPass) + { + // Create offsets +// mOffset[0] = 0; + mLink[0] = mRanks2; +// for(udword i=1;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; + for(udword i=1;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; + + // Perform Radix Sort + ubyte* InputBytes = (ubyte*)input; + InputBytes += j; + if(INVALID_RANKS) + { +// for(i=0;i<nb;i++) mRanks2[mOffset[InputBytes[i<<2]]++] = i; + for(udword i=0;i<nb;i++) *mLink[InputBytes[i<<2]]++ = i; + VALIDATE_RANKS; + } + else + { + udword* Indices = mRanks; + udword* IndicesEnd = &mRanks[nb]; + while(Indices!=IndicesEnd) + { + udword id = *Indices++; +// mRanks2[mOffset[InputBytes[id<<2]]++] = id; + *mLink[InputBytes[id<<2]]++ = id; + } + } + + // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. + udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; + } + } + else + { + // This is a special case to correctly handle negative values + CHECK_PASS_VALIDITY(j); + + if(PerformPass) + { + // Create biased offsets, in order for negative numbers to be sorted as well +// mOffset[0] = NbNegativeValues; // First positive number takes place after the negative ones + mLink[0] = &mRanks2[NbNegativeValues]; // First positive number takes place after the negative ones +// for(udword i=1;i<128;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers + for(udword i=1;i<128;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers + + // We must reverse the sorting order for negative numbers! +// mOffset[255] = 0; + mLink[255] = mRanks2; +// for(i=0;i<127;i++) mOffset[254-i] = mOffset[255-i] + CurCount[255-i]; // Fixing the wrong order for negative values + for(udword i=0;i<127;i++) mLink[254-i] = mLink[255-i] + CurCount[255-i]; // Fixing the wrong order for negative values +// for(i=128;i<256;i++) mOffset[i] += CurCount[i]; // Fixing the wrong place for negative values + for(udword i=128;i<256;i++) mLink[i] += CurCount[i]; // Fixing the wrong place for negative values + + // Perform Radix Sort + if(INVALID_RANKS) + { + for(udword i=0;i<nb;i++) + { + udword Radix = input[i]>>24; // Radix byte, same as above. AND is useless here (udword). + // ### cmp to be killed. Not good. Later. +// if(Radix<128) mRanks2[mOffset[Radix]++] = i; // Number is positive, same as above +// else mRanks2[--mOffset[Radix]] = i; // Number is negative, flip the sorting order + if(Radix<128) *mLink[Radix]++ = i; // Number is positive, same as above + else *(--mLink[Radix]) = i; // Number is negative, flip the sorting order + } + VALIDATE_RANKS; + } + else + { + for(udword i=0;i<nb;i++) + { + udword Radix = input[mRanks[i]]>>24; // Radix byte, same as above. AND is useless here (udword). + // ### cmp to be killed. Not good. Later. +// if(Radix<128) mRanks2[mOffset[Radix]++] = mRanks[i]; // Number is positive, same as above +// else mRanks2[--mOffset[Radix]] = mRanks[i]; // Number is negative, flip the sorting order + if(Radix<128) *mLink[Radix]++ = mRanks[i]; // Number is positive, same as above + else *(--mLink[Radix]) = mRanks[i]; // Number is negative, flip the sorting order + } + } + // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. + udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; + } + else + { + // The pass is useless, yet we still have to reverse the order of current list if all values are negative. + if(UniqueVal>=128) + { + if(INVALID_RANKS) + { + // ###Possible? + for(udword i=0;i<nb;i++) mRanks2[i] = nb-i-1; + VALIDATE_RANKS; + } + else + { + for(udword i=0;i<nb;i++) mRanks2[i] = mRanks[nb-i-1]; + } + + // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. + udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; + } + } + } + } + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the ram used. + * \return memory used in bytes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword RadixSort::GetUsedRam() const +{ + udword UsedRam = sizeof(RadixSort); +#ifndef RADIX_LOCAL_RAM + UsedRam += 256*4*sizeof(udword); // Histograms + UsedRam += 256*sizeof(udword); // Offsets +#endif + UsedRam += 2*CURRENT_SIZE*sizeof(udword); // 2 lists of indices + return UsedRam; +} diff --git a/Opcode/Ice/IceRevisitedRadix.h b/Opcode/Ice/IceRevisitedRadix.h index ec2f6b1..3bdfc22 100644 --- a/Opcode/Ice/IceRevisitedRadix.h +++ b/Opcode/Ice/IceRevisitedRadix.h @@ -1,65 +1,65 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains source code from the article "Radix Sort Revisited".
- * \file IceRevisitedRadix.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICERADIXSORT_H__
-#define __ICERADIXSORT_H__
-
- //! Allocate histograms & offsets locally
- #define RADIX_LOCAL_RAM
-
- enum RadixHint
- {
- RADIX_SIGNED, //!< Input values are signed
- RADIX_UNSIGNED, //!< Input values are unsigned
-
- RADIX_FORCE_DWORD = 0x7fffffff
- };
-
- class ICECORE_API RadixSort
- {
- public:
- // Constructor/Destructor
- RadixSort();
- ~RadixSort();
- // Sorting methods
- RadixSort& Sort(const udword* input, udword nb, RadixHint hint=RADIX_SIGNED);
- RadixSort& Sort(const float* input, udword nb);
-
- //! Access to results. mRanks is a list of indices in sorted order, i.e. in the order you may further process your data
- inline_ const udword* GetRanks() const { return mRanks; }
-
- //! mIndices2 gets trashed on calling the sort routine, but otherwise you can recycle it the way you want.
- inline_ udword* GetRecyclable() const { return mRanks2; }
-
- // Stats
- udword GetUsedRam() const;
- //! Returns the total number of calls to the radix sorter.
- inline_ udword GetNbTotalCalls() const { return mTotalCalls; }
- //! Returns the number of eraly exits due to temporal coherence.
- inline_ udword GetNbHits() const { return mNbHits; }
-
- private:
-#ifndef RADIX_LOCAL_RAM
- udword* mHistogram; //!< Counters for each byte
- udword* mOffset; //!< Offsets (nearly a cumulative distribution function)
-#endif
- udword mCurrentSize; //!< Current size of the indices list
- udword* mRanks; //!< Two lists, swapped each pass
- udword* mRanks2;
- // Stats
- udword mTotalCalls; //!< Total number of calls to the sort routine
- udword mNbHits; //!< Number of early exits due to coherence
- // Internal methods
- void CheckResize(udword nb);
- bool Resize(udword nb);
- };
-
-#endif // __ICERADIXSORT_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains source code from the article "Radix Sort Revisited". + * \file IceRevisitedRadix.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICERADIXSORT_H__ +#define __ICERADIXSORT_H__ + + //! Allocate histograms & offsets locally + #define RADIX_LOCAL_RAM + + enum RadixHint + { + RADIX_SIGNED, //!< Input values are signed + RADIX_UNSIGNED, //!< Input values are unsigned + + RADIX_FORCE_DWORD = 0x7fffffff + }; + + class ICECORE_API RadixSort + { + public: + // Constructor/Destructor + RadixSort(); + ~RadixSort(); + // Sorting methods + RadixSort& Sort(const udword* input, udword nb, RadixHint hint=RADIX_SIGNED); + RadixSort& Sort(const float* input, udword nb); + + //! Access to results. mRanks is a list of indices in sorted order, i.e. in the order you may further process your data + inline_ const udword* GetRanks() const { return mRanks; } + + //! mIndices2 gets trashed on calling the sort routine, but otherwise you can recycle it the way you want. + inline_ udword* GetRecyclable() const { return mRanks2; } + + // Stats + udword GetUsedRam() const; + //! Returns the total number of calls to the radix sorter. + inline_ udword GetNbTotalCalls() const { return mTotalCalls; } + //! Returns the number of eraly exits due to temporal coherence. + inline_ udword GetNbHits() const { return mNbHits; } + + private: +#ifndef RADIX_LOCAL_RAM + udword* mHistogram; //!< Counters for each byte + udword* mOffset; //!< Offsets (nearly a cumulative distribution function) +#endif + udword mCurrentSize; //!< Current size of the indices list + udword* mRanks; //!< Two lists, swapped each pass + udword* mRanks2; + // Stats + udword mTotalCalls; //!< Total number of calls to the sort routine + udword mNbHits; //!< Number of early exits due to coherence + // Internal methods + void CheckResize(udword nb); + bool Resize(udword nb); + }; + +#endif // __ICERADIXSORT_H__ diff --git a/Opcode/Ice/IceSegment.cpp b/Opcode/Ice/IceSegment.cpp index 189be8f..b45d04b 100644 --- a/Opcode/Ice/IceSegment.cpp +++ b/Opcode/Ice/IceSegment.cpp @@ -1,57 +1,57 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for segments.
- * \file IceSegment.cpp
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * IceSegment class.
- * A segment is defined by S(t) = mP0 * (1 - t) + mP1 * t, with 0 <= t <= 1
- * Alternatively, a segment is S(t) = Origin + t * Direction for 0 <= t <= 1.
- * Direction is not necessarily unit length. The end points are Origin = mP0 and Origin + Direction = mP1.
- *
- * \class IceSegment
- * \author Pierre Terdiman
- * \version 1.0
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-float IceSegment::SquareDistance(const IcePoint& Point, float* t) const
-{
- IcePoint Diff = Point - mP0;
- IcePoint Dir = mP1 - mP0;
- float fT = Diff | Dir;
-
- if(fT<=0.0f)
- {
- fT = 0.0f;
- }
- else
- {
- float SqrLen= Dir.SquareMagnitude();
- if(fT>=SqrLen)
- {
- fT = 1.0f;
- Diff -= Dir;
- }
- else
- {
- fT /= SqrLen;
- Diff -= fT*Dir;
- }
- }
-
- if(t) *t = fT;
-
- return Diff.SquareMagnitude();
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for segments. + * \file IceSegment.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * IceSegment class. + * A segment is defined by S(t) = mP0 * (1 - t) + mP1 * t, with 0 <= t <= 1 + * Alternatively, a segment is S(t) = Origin + t * Direction for 0 <= t <= 1. + * Direction is not necessarily unit length. The end points are Origin = mP0 and Origin + Direction = mP1. + * + * \class IceSegment + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +float IceSegment::SquareDistance(const IcePoint& Point, float* t) const +{ + IcePoint Diff = Point - mP0; + IcePoint Dir = mP1 - mP0; + float fT = Diff | Dir; + + if(fT<=0.0f) + { + fT = 0.0f; + } + else + { + float SqrLen= Dir.SquareMagnitude(); + if(fT>=SqrLen) + { + fT = 1.0f; + Diff -= Dir; + } + else + { + fT /= SqrLen; + Diff -= fT*Dir; + } + } + + if(t) *t = fT; + + return Diff.SquareMagnitude(); +} diff --git a/Opcode/Ice/IceSegment.h b/Opcode/Ice/IceSegment.h index d2b7f07..72ddceb 100644 --- a/Opcode/Ice/IceSegment.h +++ b/Opcode/Ice/IceSegment.h @@ -1,55 +1,55 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for segments.
- * \file IceSegment.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICESEGMENT_H__
-#define __ICESEGMENT_H__
-
- class ICEMATHS_API IceSegment
- {
- public:
- //! Constructor
- inline_ IceSegment() {}
- //! Constructor
- inline_ IceSegment(const IcePoint& p0, const IcePoint& p1) : mP0(p0), mP1(p1) {}
- //! Copy constructor
- inline_ IceSegment(const IceSegment& seg) : mP0(seg.mP0), mP1(seg.mP1) {}
- //! Destructor
- inline_ ~IceSegment() {}
-
- inline_ const IcePoint& GetOrigin() const { return mP0; }
- inline_ IcePoint ComputeDirection() const { return mP1 - mP0; }
- inline_ void ComputeDirection(IcePoint& dir) const { dir = mP1 - mP0; }
- inline_ float ComputeLength() const { return mP1.Distance(mP0); }
- inline_ float ComputeSquareLength() const { return mP1.SquareDistance(mP0); }
-
- inline_ void SetOriginDirection(const IcePoint& origin, const IcePoint& direction)
- {
- mP0 = mP1 = origin;
- mP1 += direction;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes a IcePoint on the segment
- * \param pt [out] IcePoint on segment
- * \param t [in] IcePoint's parameter [t=0 => pt = mP0, t=1 => pt = mP1]
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void ComputePoint(IcePoint& pt, float t) const { pt = mP0 + t * (mP1 - mP0); }
-
- float SquareDistance(const IcePoint& IcePoint, float* t=null) const;
- inline_ float Distance(const IcePoint& IcePoint, float* t=null) const { return sqrtf(SquareDistance(IcePoint, t)); }
-
- IcePoint mP0; //!< Start of segment
- IcePoint mP1; //!< End of segment
- };
-
-#endif // __ICESEGMENT_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for segments. + * \file IceSegment.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICESEGMENT_H__ +#define __ICESEGMENT_H__ + + class ICEMATHS_API IceSegment + { + public: + //! Constructor + inline_ IceSegment() {} + //! Constructor + inline_ IceSegment(const IcePoint& p0, const IcePoint& p1) : mP0(p0), mP1(p1) {} + //! Copy constructor + inline_ IceSegment(const IceSegment& seg) : mP0(seg.mP0), mP1(seg.mP1) {} + //! Destructor + inline_ ~IceSegment() {} + + inline_ const IcePoint& GetOrigin() const { return mP0; } + inline_ IcePoint ComputeDirection() const { return mP1 - mP0; } + inline_ void ComputeDirection(IcePoint& dir) const { dir = mP1 - mP0; } + inline_ float ComputeLength() const { return mP1.Distance(mP0); } + inline_ float ComputeSquareLength() const { return mP1.SquareDistance(mP0); } + + inline_ void SetOriginDirection(const IcePoint& origin, const IcePoint& direction) + { + mP0 = mP1 = origin; + mP1 += direction; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes a IcePoint on the segment + * \param pt [out] IcePoint on segment + * \param t [in] IcePoint's parameter [t=0 => pt = mP0, t=1 => pt = mP1] + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void ComputePoint(IcePoint& pt, float t) const { pt = mP0 + t * (mP1 - mP0); } + + float SquareDistance(const IcePoint& IcePoint, float* t=null) const; + inline_ float Distance(const IcePoint& IcePoint, float* t=null) const { return sqrtf(SquareDistance(IcePoint, t)); } + + IcePoint mP0; //!< Start of segment + IcePoint mP1; //!< End of segment + }; + +#endif // __ICESEGMENT_H__ diff --git a/Opcode/Ice/IceTriangle.cpp b/Opcode/Ice/IceTriangle.cpp index c3794fe..e55f73e 100644 --- a/Opcode/Ice/IceTriangle.cpp +++ b/Opcode/Ice/IceTriangle.cpp @@ -1,286 +1,286 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a handy triangle class.
- * \file IceTriangle.cpp
- * \author Pierre Terdiman
- * \date January, 17, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceMaths;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a triangle class.
- *
- * \class Tri
- * \author Pierre Terdiman
- * \version 1.0
- * \date 08.15.98
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-static sdword VPlaneSideEps(const IcePoint& v, const IcePlane& plane, float epsilon)
-{
- // Compute distance from current vertex to the plane
- float Dist = plane.Distance(v);
- // Compute side:
- // 1 = the vertex is on the positive side of the plane
- // -1 = the vertex is on the negative side of the plane
- // 0 = the vertex is on the plane (within epsilon)
- return Dist > epsilon ? 1 : Dist < -epsilon ? -1 : 0;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Flips the winding order.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void Triangle::Flip()
-{
- IcePoint Tmp = mVerts[1];
- mVerts[1] = mVerts[2];
- mVerts[2] = Tmp;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle area.
- * \return the area
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float Triangle::Area() const
-{
- const IcePoint& p0 = mVerts[0];
- const IcePoint& p1 = mVerts[1];
- const IcePoint& p2 = mVerts[2];
- return ((p0 - p1)^(p0 - p2)).Magnitude() * 0.5f;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle perimeter.
- * \return the perimeter
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float Triangle::Perimeter() const
-{
- const IcePoint& p0 = mVerts[0];
- const IcePoint& p1 = mVerts[1];
- const IcePoint& p2 = mVerts[2];
- return p0.Distance(p1)
- + p0.Distance(p2)
- + p1.Distance(p2);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle compacity.
- * \return the compacity
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float Triangle::Compacity() const
-{
- float P = Perimeter();
- if(P==0.0f) return 0.0f;
- return (4.0f*PI*Area()/(P*P));
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle normal.
- * \param normal [out] the computed normal
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void Triangle::Normal(IcePoint& normal) const
-{
- const IcePoint& p0 = mVerts[0];
- const IcePoint& p1 = mVerts[1];
- const IcePoint& p2 = mVerts[2];
- normal = ((p0 - p1)^(p0 - p2)).Normalize();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle denormalized normal.
- * \param normal [out] the computed normal
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void Triangle::DenormalizedNormal(IcePoint& normal) const
-{
- const IcePoint& p0 = mVerts[0];
- const IcePoint& p1 = mVerts[1];
- const IcePoint& p2 = mVerts[2];
- normal = ((p0 - p1)^(p0 - p2));
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle center.
- * \param center [out] the computed center
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void Triangle::Center(IcePoint& center) const
-{
- const IcePoint& p0 = mVerts[0];
- const IcePoint& p1 = mVerts[1];
- const IcePoint& p2 = mVerts[2];
- center = (p0 + p1 + p2)*INV3;
-}
-
-PartVal Triangle::TestAgainstPlane(const IcePlane& plane, float epsilon) const
-{
- bool Pos = false, Neg = false;
-
- // Loop through all vertices
- for(udword i=0;i<3;i++)
- {
- // Compute side:
- sdword Side = VPlaneSideEps(mVerts[i], plane, epsilon);
-
- if (Side < 0) Neg = true;
- else if (Side > 0) Pos = true;
- }
-
- if (!Pos && !Neg) return TRI_ON_PLANE;
- else if (Pos && Neg) return TRI_INTERSECT;
- else if (Pos && !Neg) return TRI_PLUS_SPACE;
- else if (!Pos && Neg) return TRI_MINUS_SPACE;
-
- // What?!
- return TRI_FORCEDWORD;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle moment.
- * \param m [out] the moment
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
-void Triangle::ComputeMoment(Moment& m)
-{
- // Compute the area of the triangle
- m.mArea = Area();
-
- // Compute the centroid
- Center(m.mCentroid);
-
- // Second-order components. Handle zero-area faces.
- IcePoint& p = mVerts[0];
- IcePoint& q = mVerts[1];
- IcePoint& r = mVerts[2];
- if(m.mArea==0.0f)
- {
- // This triangle has zero area. The second order components would be eliminated with the usual formula, so, for the
- // sake of robustness we use an alternative form. These are the centroid and second-order components of the triangle's vertices.
- m.mCovariance.m[0][0] = (p.x*p.x + q.x*q.x + r.x*r.x);
- m.mCovariance.m[0][1] = (p.x*p.y + q.x*q.y + r.x*r.y);
- m.mCovariance.m[0][2] = (p.x*p.z + q.x*q.z + r.x*r.z);
- m.mCovariance.m[1][1] = (p.y*p.y + q.y*q.y + r.y*r.y);
- m.mCovariance.m[1][2] = (p.y*p.z + q.y*q.z + r.y*r.z);
- m.mCovariance.m[2][2] = (p.z*p.z + q.z*q.z + r.z*r.z);
- m.mCovariance.m[2][1] = m.mCovariance.m[1][2];
- m.mCovariance.m[1][0] = m.mCovariance.m[0][1];
- m.mCovariance.m[2][0] = m.mCovariance.m[0][2];
- }
- else
- {
- const float OneOverTwelve = 1.0f / 12.0f;
- m.mCovariance.m[0][0] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.x + p.x*p.x + q.x*q.x + r.x*r.x) * OneOverTwelve;
- m.mCovariance.m[0][1] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.y + p.x*p.y + q.x*q.y + r.x*r.y) * OneOverTwelve;
- m.mCovariance.m[1][1] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.y + p.y*p.y + q.y*q.y + r.y*r.y) * OneOverTwelve;
- m.mCovariance.m[0][2] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.z + p.x*p.z + q.x*q.z + r.x*r.z) * OneOverTwelve;
- m.mCovariance.m[1][2] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.z + p.y*p.z + q.y*q.z + r.y*r.z) * OneOverTwelve;
- m.mCovariance.m[2][2] = m.mArea * (9.0f * m.mCentroid.z*m.mCentroid.z + p.z*p.z + q.z*q.z + r.z*r.z) * OneOverTwelve;
- m.mCovariance.m[2][1] = m.mCovariance.m[1][2];
- m.mCovariance.m[1][0] = m.mCovariance.m[0][1];
- m.mCovariance.m[2][0] = m.mCovariance.m[0][2];
- }
-}
-*/
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle's smallest edge length.
- * \return the smallest edge length
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float Triangle::MinEdgeLength() const
-{
- float Min = MAX_FLOAT;
- float Length01 = mVerts[0].Distance(mVerts[1]);
- float Length02 = mVerts[0].Distance(mVerts[2]);
- float Length12 = mVerts[1].Distance(mVerts[2]);
- if(Length01 < Min) Min = Length01;
- if(Length02 < Min) Min = Length02;
- if(Length12 < Min) Min = Length12;
- return Min;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the triangle's largest edge length.
- * \return the largest edge length
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float Triangle::MaxEdgeLength() const
-{
- float Max = MIN_FLOAT;
- float Length01 = mVerts[0].Distance(mVerts[1]);
- float Length02 = mVerts[0].Distance(mVerts[2]);
- float Length12 = mVerts[1].Distance(mVerts[2]);
- if(Length01 > Max) Max = Length01;
- if(Length02 > Max) Max = Length02;
- if(Length12 > Max) Max = Length12;
- return Max;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes a IcePoint on the triangle according to the stabbing information.
- * \param u,v [in] IcePoint's barycentric coordinates
- * \param pt [out] IcePoint on triangle
- * \param nearvtx [out] index of nearest vertex
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void Triangle::ComputePoint(float u, float v, IcePoint& pt, udword* nearvtx) const
-{
- // Compute IcePoint coordinates
- pt = (1.0f - u - v)*mVerts[0] + u*mVerts[1] + v*mVerts[2];
-
- // Compute nearest vertex if needed
- if(nearvtx)
- {
- // Compute distance vector
- IcePoint d(mVerts[0].SquareDistance(pt), // Distance^2 from vertex 0 to IcePoint on the face
- mVerts[1].SquareDistance(pt), // Distance^2 from vertex 1 to IcePoint on the face
- mVerts[2].SquareDistance(pt)); // Distance^2 from vertex 2 to IcePoint on the face
-
- // Get smallest distance
- *nearvtx = d.SmallestAxis();
- }
-}
-
-void Triangle::Inflate(float fat_coeff, bool constant_border)
-{
- // Compute triangle center
- IcePoint TriangleCenter;
- Center(TriangleCenter);
-
- // Don't normalize?
- // Normalize => add a constant border, regardless of triangle size
- // Don't => add more to big triangles
- for(udword i=0;i<3;i++)
- {
- IcePoint v = mVerts[i] - TriangleCenter;
-
- if(constant_border) v.Normalize();
-
- mVerts[i] += v * fat_coeff;
- }
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a handy triangle class. + * \file IceTriangle.cpp + * \author Pierre Terdiman + * \date January, 17, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a triangle class. + * + * \class Tri + * \author Pierre Terdiman + * \version 1.0 + * \date 08.15.98 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +static sdword VPlaneSideEps(const IcePoint& v, const IcePlane& plane, float epsilon) +{ + // Compute distance from current vertex to the plane + float Dist = plane.Distance(v); + // Compute side: + // 1 = the vertex is on the positive side of the plane + // -1 = the vertex is on the negative side of the plane + // 0 = the vertex is on the plane (within epsilon) + return Dist > epsilon ? 1 : Dist < -epsilon ? -1 : 0; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Flips the winding order. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::Flip() +{ + IcePoint Tmp = mVerts[1]; + mVerts[1] = mVerts[2]; + mVerts[2] = Tmp; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle area. + * \return the area + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::Area() const +{ + const IcePoint& p0 = mVerts[0]; + const IcePoint& p1 = mVerts[1]; + const IcePoint& p2 = mVerts[2]; + return ((p0 - p1)^(p0 - p2)).Magnitude() * 0.5f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle perimeter. + * \return the perimeter + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::Perimeter() const +{ + const IcePoint& p0 = mVerts[0]; + const IcePoint& p1 = mVerts[1]; + const IcePoint& p2 = mVerts[2]; + return p0.Distance(p1) + + p0.Distance(p2) + + p1.Distance(p2); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle compacity. + * \return the compacity + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::Compacity() const +{ + float P = Perimeter(); + if(P==0.0f) return 0.0f; + return (4.0f*PI*Area()/(P*P)); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle normal. + * \param normal [out] the computed normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::Normal(IcePoint& normal) const +{ + const IcePoint& p0 = mVerts[0]; + const IcePoint& p1 = mVerts[1]; + const IcePoint& p2 = mVerts[2]; + normal = ((p0 - p1)^(p0 - p2)).Normalize(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle denormalized normal. + * \param normal [out] the computed normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::DenormalizedNormal(IcePoint& normal) const +{ + const IcePoint& p0 = mVerts[0]; + const IcePoint& p1 = mVerts[1]; + const IcePoint& p2 = mVerts[2]; + normal = ((p0 - p1)^(p0 - p2)); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle center. + * \param center [out] the computed center + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::Center(IcePoint& center) const +{ + const IcePoint& p0 = mVerts[0]; + const IcePoint& p1 = mVerts[1]; + const IcePoint& p2 = mVerts[2]; + center = (p0 + p1 + p2)*INV3; +} + +PartVal Triangle::TestAgainstPlane(const IcePlane& plane, float epsilon) const +{ + bool Pos = false, Neg = false; + + // Loop through all vertices + for(udword i=0;i<3;i++) + { + // Compute side: + sdword Side = VPlaneSideEps(mVerts[i], plane, epsilon); + + if (Side < 0) Neg = true; + else if (Side > 0) Pos = true; + } + + if (!Pos && !Neg) return TRI_ON_PLANE; + else if (Pos && Neg) return TRI_INTERSECT; + else if (Pos && !Neg) return TRI_PLUS_SPACE; + else if (!Pos && Neg) return TRI_MINUS_SPACE; + + // What?! + return TRI_FORCEDWORD; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle moment. + * \param m [out] the moment + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* +void Triangle::ComputeMoment(Moment& m) +{ + // Compute the area of the triangle + m.mArea = Area(); + + // Compute the centroid + Center(m.mCentroid); + + // Second-order components. Handle zero-area faces. + IcePoint& p = mVerts[0]; + IcePoint& q = mVerts[1]; + IcePoint& r = mVerts[2]; + if(m.mArea==0.0f) + { + // This triangle has zero area. The second order components would be eliminated with the usual formula, so, for the + // sake of robustness we use an alternative form. These are the centroid and second-order components of the triangle's vertices. + m.mCovariance.m[0][0] = (p.x*p.x + q.x*q.x + r.x*r.x); + m.mCovariance.m[0][1] = (p.x*p.y + q.x*q.y + r.x*r.y); + m.mCovariance.m[0][2] = (p.x*p.z + q.x*q.z + r.x*r.z); + m.mCovariance.m[1][1] = (p.y*p.y + q.y*q.y + r.y*r.y); + m.mCovariance.m[1][2] = (p.y*p.z + q.y*q.z + r.y*r.z); + m.mCovariance.m[2][2] = (p.z*p.z + q.z*q.z + r.z*r.z); + m.mCovariance.m[2][1] = m.mCovariance.m[1][2]; + m.mCovariance.m[1][0] = m.mCovariance.m[0][1]; + m.mCovariance.m[2][0] = m.mCovariance.m[0][2]; + } + else + { + const float OneOverTwelve = 1.0f / 12.0f; + m.mCovariance.m[0][0] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.x + p.x*p.x + q.x*q.x + r.x*r.x) * OneOverTwelve; + m.mCovariance.m[0][1] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.y + p.x*p.y + q.x*q.y + r.x*r.y) * OneOverTwelve; + m.mCovariance.m[1][1] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.y + p.y*p.y + q.y*q.y + r.y*r.y) * OneOverTwelve; + m.mCovariance.m[0][2] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.z + p.x*p.z + q.x*q.z + r.x*r.z) * OneOverTwelve; + m.mCovariance.m[1][2] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.z + p.y*p.z + q.y*q.z + r.y*r.z) * OneOverTwelve; + m.mCovariance.m[2][2] = m.mArea * (9.0f * m.mCentroid.z*m.mCentroid.z + p.z*p.z + q.z*q.z + r.z*r.z) * OneOverTwelve; + m.mCovariance.m[2][1] = m.mCovariance.m[1][2]; + m.mCovariance.m[1][0] = m.mCovariance.m[0][1]; + m.mCovariance.m[2][0] = m.mCovariance.m[0][2]; + } +} +*/ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle's smallest edge length. + * \return the smallest edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::MinEdgeLength() const +{ + float Min = MAX_FLOAT; + float Length01 = mVerts[0].Distance(mVerts[1]); + float Length02 = mVerts[0].Distance(mVerts[2]); + float Length12 = mVerts[1].Distance(mVerts[2]); + if(Length01 < Min) Min = Length01; + if(Length02 < Min) Min = Length02; + if(Length12 < Min) Min = Length12; + return Min; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle's largest edge length. + * \return the largest edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::MaxEdgeLength() const +{ + float Max = MIN_FLOAT; + float Length01 = mVerts[0].Distance(mVerts[1]); + float Length02 = mVerts[0].Distance(mVerts[2]); + float Length12 = mVerts[1].Distance(mVerts[2]); + if(Length01 > Max) Max = Length01; + if(Length02 > Max) Max = Length02; + if(Length12 > Max) Max = Length12; + return Max; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a IcePoint on the triangle according to the stabbing information. + * \param u,v [in] IcePoint's barycentric coordinates + * \param pt [out] IcePoint on triangle + * \param nearvtx [out] index of nearest vertex + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::ComputePoint(float u, float v, IcePoint& pt, udword* nearvtx) const +{ + // Compute IcePoint coordinates + pt = (1.0f - u - v)*mVerts[0] + u*mVerts[1] + v*mVerts[2]; + + // Compute nearest vertex if needed + if(nearvtx) + { + // Compute distance vector + IcePoint d(mVerts[0].SquareDistance(pt), // Distance^2 from vertex 0 to IcePoint on the face + mVerts[1].SquareDistance(pt), // Distance^2 from vertex 1 to IcePoint on the face + mVerts[2].SquareDistance(pt)); // Distance^2 from vertex 2 to IcePoint on the face + + // Get smallest distance + *nearvtx = d.SmallestAxis(); + } +} + +void Triangle::Inflate(float fat_coeff, bool constant_border) +{ + // Compute triangle center + IcePoint TriangleCenter; + Center(TriangleCenter); + + // Don't normalize? + // Normalize => add a constant border, regardless of triangle size + // Don't => add more to big triangles + for(udword i=0;i<3;i++) + { + IcePoint v = mVerts[i] - TriangleCenter; + + if(constant_border) v.Normalize(); + + mVerts[i] += v * fat_coeff; + } +} diff --git a/Opcode/Ice/IceTriangle.h b/Opcode/Ice/IceTriangle.h index c5c1fde..e5c8426 100644 --- a/Opcode/Ice/IceTriangle.h +++ b/Opcode/Ice/IceTriangle.h @@ -1,68 +1,68 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a handy triangle class.
- * \file IceTriangle.h
- * \author Pierre Terdiman
- * \date January, 17, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICETRIANGLE_H__
-#define __ICETRIANGLE_H__
-
- // Forward declarations
- class Moment;
-
- // Partitioning values
- enum PartVal
- {
- TRI_MINUS_SPACE = 0, //!< Triangle is in the negative space
- TRI_PLUS_SPACE = 1, //!< Triangle is in the positive space
- TRI_INTERSECT = 2, //!< Triangle intersects plane
- TRI_ON_PLANE = 3, //!< Triangle and plane are coplanar
-
- TRI_FORCEDWORD = 0x7fffffff
- };
-
- // A triangle class.
- class ICEMATHS_API Triangle
- {
- public:
- //! Constructor
- inline_ Triangle() {}
- //! Constructor
- inline_ Triangle(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2) { mVerts[0]=p0; mVerts[1]=p1; mVerts[2]=p2; }
- //! Copy constructor
- inline_ Triangle(const Triangle& triangle)
- {
- mVerts[0] = triangle.mVerts[0];
- mVerts[1] = triangle.mVerts[1];
- mVerts[2] = triangle.mVerts[2];
- }
- //! Destructor
- inline_ ~Triangle() {}
- //! Vertices
- IcePoint mVerts[3];
-
- // Methods
- void Flip();
- float Area() const;
- float Perimeter() const;
- float Compacity() const;
- void Normal(IcePoint& normal) const;
- void DenormalizedNormal(IcePoint& normal) const;
- void Center(IcePoint& center) const;
- inline_ IcePlane PlaneEquation() const { return IcePlane(mVerts[0], mVerts[1], mVerts[2]); }
-
- PartVal TestAgainstPlane(const IcePlane& plane, float epsilon) const;
-// float Distance(Point& cp, Point& cq, Tri& tri);
- void ComputeMoment(Moment& m);
- float MinEdgeLength() const;
- float MaxEdgeLength() const;
- void ComputePoint(float u, float v, IcePoint& pt, udword* nearvtx=null) const;
- void Inflate(float fat_coeff, bool constant_border);
- };
-
-#endif // __ICETRIANGLE_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a handy triangle class. + * \file IceTriangle.h + * \author Pierre Terdiman + * \date January, 17, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICETRIANGLE_H__ +#define __ICETRIANGLE_H__ + + // Forward declarations + class Moment; + + // Partitioning values + enum PartVal + { + TRI_MINUS_SPACE = 0, //!< Triangle is in the negative space + TRI_PLUS_SPACE = 1, //!< Triangle is in the positive space + TRI_INTERSECT = 2, //!< Triangle intersects plane + TRI_ON_PLANE = 3, //!< Triangle and plane are coplanar + + TRI_FORCEDWORD = 0x7fffffff + }; + + // A triangle class. + class ICEMATHS_API Triangle + { + public: + //! Constructor + inline_ Triangle() {} + //! Constructor + inline_ Triangle(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2) { mVerts[0]=p0; mVerts[1]=p1; mVerts[2]=p2; } + //! Copy constructor + inline_ Triangle(const Triangle& triangle) + { + mVerts[0] = triangle.mVerts[0]; + mVerts[1] = triangle.mVerts[1]; + mVerts[2] = triangle.mVerts[2]; + } + //! Destructor + inline_ ~Triangle() {} + //! Vertices + IcePoint mVerts[3]; + + // Methods + void Flip(); + float Area() const; + float Perimeter() const; + float Compacity() const; + void Normal(IcePoint& normal) const; + void DenormalizedNormal(IcePoint& normal) const; + void Center(IcePoint& center) const; + inline_ IcePlane PlaneEquation() const { return IcePlane(mVerts[0], mVerts[1], mVerts[2]); } + + PartVal TestAgainstPlane(const IcePlane& plane, float epsilon) const; +// float Distance(Point& cp, Point& cq, Tri& tri); + void ComputeMoment(Moment& m); + float MinEdgeLength() const; + float MaxEdgeLength() const; + void ComputePoint(float u, float v, IcePoint& pt, udword* nearvtx=null) const; + void Inflate(float fat_coeff, bool constant_border); + }; + +#endif // __ICETRIANGLE_H__ diff --git a/Opcode/Ice/IceTrilist.h b/Opcode/Ice/IceTrilist.h index d5f7c70..057f8df 100644 --- a/Opcode/Ice/IceTrilist.h +++ b/Opcode/Ice/IceTrilist.h @@ -1,61 +1,61 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for a triangle container.
- * \file IceTrilist.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICETRILIST_H__
-#define __ICETRILIST_H__
-
- class ICEMATHS_API TriList : public Container
- {
- public:
- // Constructor / Destructor
- TriList() {}
- ~TriList() {}
-
- inline_ udword GetNbTriangles() const { return GetNbEntries()/9; }
- inline_ Triangle* GetTriangles() const { return (Triangle*)GetEntries(); }
-
- void AddTri(const Triangle& tri)
- {
- Add(tri.mVerts[0].x).Add(tri.mVerts[0].y).Add(tri.mVerts[0].z);
- Add(tri.mVerts[1].x).Add(tri.mVerts[1].y).Add(tri.mVerts[1].z);
- Add(tri.mVerts[2].x).Add(tri.mVerts[2].y).Add(tri.mVerts[2].z);
- }
-
- void AddTri(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2)
- {
- Add(p0.x).Add(p0.y).Add(p0.z);
- Add(p1.x).Add(p1.y).Add(p1.z);
- Add(p2.x).Add(p2.y).Add(p2.z);
- }
- };
-
- class ICEMATHS_API TriangleList : public Container
- {
- public:
- // Constructor / Destructor
- TriangleList() {}
- ~TriangleList() {}
-
- inline_ udword GetNbTriangles() const { return GetNbEntries()/3; }
- inline_ IndexedTriangle* GetTriangles() const { return (IndexedTriangle*)GetEntries();}
-
- void AddTriangle(const IndexedTriangle& tri)
- {
- Add(tri.mVRef[0]).Add(tri.mVRef[1]).Add(tri.mVRef[2]);
- }
-
- void AddTriangle(udword vref0, udword vref1, udword vref2)
- {
- Add(vref0).Add(vref1).Add(vref2);
- }
- };
-
-#endif //__ICETRILIST_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a triangle container. + * \file IceTrilist.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICETRILIST_H__ +#define __ICETRILIST_H__ + + class ICEMATHS_API TriList : public Container + { + public: + // Constructor / Destructor + TriList() {} + ~TriList() {} + + inline_ udword GetNbTriangles() const { return GetNbEntries()/9; } + inline_ Triangle* GetTriangles() const { return (Triangle*)GetEntries(); } + + void AddTri(const Triangle& tri) + { + Add(tri.mVerts[0].x).Add(tri.mVerts[0].y).Add(tri.mVerts[0].z); + Add(tri.mVerts[1].x).Add(tri.mVerts[1].y).Add(tri.mVerts[1].z); + Add(tri.mVerts[2].x).Add(tri.mVerts[2].y).Add(tri.mVerts[2].z); + } + + void AddTri(const IcePoint& p0, const IcePoint& p1, const IcePoint& p2) + { + Add(p0.x).Add(p0.y).Add(p0.z); + Add(p1.x).Add(p1.y).Add(p1.z); + Add(p2.x).Add(p2.y).Add(p2.z); + } + }; + + class ICEMATHS_API TriangleList : public Container + { + public: + // Constructor / Destructor + TriangleList() {} + ~TriangleList() {} + + inline_ udword GetNbTriangles() const { return GetNbEntries()/3; } + inline_ IndexedTriangle* GetTriangles() const { return (IndexedTriangle*)GetEntries();} + + void AddTriangle(const IndexedTriangle& tri) + { + Add(tri.mVRef[0]).Add(tri.mVRef[1]).Add(tri.mVRef[2]); + } + + void AddTriangle(udword vref0, udword vref1, udword vref2) + { + Add(vref0).Add(vref1).Add(vref2); + } + }; + +#endif //__ICETRILIST_H__ diff --git a/Opcode/Ice/IceTypes.h b/Opcode/Ice/IceTypes.h index dac0a71..543be11 100644 --- a/Opcode/Ice/IceTypes.h +++ b/Opcode/Ice/IceTypes.h @@ -1,157 +1,157 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains custom types.
- * \file IceTypes.h
- * \author Pierre Terdiman
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICETYPES_H__
-#define __ICETYPES_H__
-
- #define USE_HANDLE_MANAGER
-
- // Constants
- #define PI 3.1415926535897932384626433832795028841971693993751f //!< PI
- #define HALFPI 1.57079632679489661923f //!< 0.5 * PI
- #define TWOPI 6.28318530717958647692f //!< 2.0 * PI
- #define INVPI 0.31830988618379067154f //!< 1.0 / PI
-
- #define RADTODEG 57.2957795130823208768f //!< 180.0 / PI, convert radians to degrees
- #define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians
-
- #define EXP 2.71828182845904523536f //!< e
- #define INVLOG2 3.32192809488736234787f //!< 1.0 / log10(2)
- #define LN2 0.693147180559945f //!< ln(2)
- #define INVLN2 1.44269504089f //!< 1.0f / ln(2)
-
- #define INV3 0.33333333333333333333f //!< 1/3
- #define INV6 0.16666666666666666666f //!< 1/6
- #define INV7 0.14285714285714285714f //!< 1/7
- #define INV9 0.11111111111111111111f //!< 1/9
- #define INV255 0.00392156862745098039f //!< 1/255
-
- #define SQRT2 1.41421356237f //!< sqrt(2)
- #define INVSQRT2 0.707106781188f //!< 1 / sqrt(2)
-
- #define SQRT3 1.73205080757f //!< sqrt(3)
- #define INVSQRT3 0.577350269189f //!< 1 / sqrt(3)
-
- #define null 0 //!< our own NULL pointer
-
- // Custom types used in ICE
- typedef signed char sbyte; //!< sizeof(sbyte) must be 1
- typedef unsigned char ubyte; //!< sizeof(ubyte) must be 1
- typedef signed short sword; //!< sizeof(sword) must be 2
- typedef unsigned short uword; //!< sizeof(uword) must be 2
- typedef signed int sdword; //!< sizeof(sdword) must be 4
- typedef unsigned int udword; //!< sizeof(udword) must be 4
- typedef signed __int64 sqword; //!< sizeof(sqword) must be 8
- typedef unsigned __int64 uqword; //!< sizeof(uqword) must be 8
- typedef float float32; //!< sizeof(float32) must be 4
- typedef double float64; //!< sizeof(float64) must be 4
-
- ICE_COMPILE_TIME_ASSERT(sizeof(bool)==1); // ...otherwise things might fail with VC++ 4.2 !
- ICE_COMPILE_TIME_ASSERT(sizeof(ubyte)==1);
- ICE_COMPILE_TIME_ASSERT(sizeof(sbyte)==1);
- ICE_COMPILE_TIME_ASSERT(sizeof(sword)==2);
- ICE_COMPILE_TIME_ASSERT(sizeof(uword)==2);
- ICE_COMPILE_TIME_ASSERT(sizeof(udword)==4);
- ICE_COMPILE_TIME_ASSERT(sizeof(sdword)==4);
- ICE_COMPILE_TIME_ASSERT(sizeof(uqword)==8);
- ICE_COMPILE_TIME_ASSERT(sizeof(sqword)==8);
-
- //! TO BE DOCUMENTED
- #define DECLARE_ICE_HANDLE(name) struct name##__ { int unused; }; typedef struct name##__ *name
-
- typedef udword DynID; //!< Dynamic identifier
-#ifdef USE_HANDLE_MANAGER
- typedef udword KID; //!< Kernel ID
-// DECLARE_ICE_HANDLE(KID);
-#else
- typedef uword KID; //!< Kernel ID
-#endif
- typedef udword RTYPE; //!< Relationship-type (!) between owners and references
- #define INVALID_ID 0xffffffff //!< Invalid dword ID (counterpart of null pointers)
-#ifdef USE_HANDLE_MANAGER
- #define INVALID_KID 0xffffffff //!< Invalid Kernel ID
-#else
- #define INVALID_KID 0xffff //!< Invalid Kernel ID
-#endif
- #define INVALID_NUMBER 0xDEADBEEF //!< Standard junk value
-
- // Define BOOL if needed
- #ifndef BOOL
- typedef int BOOL; //!< Another boolean type.
- #endif
-
- //! Union of a float and a sdword
- typedef union {
- float f; //!< The float
- sdword d; //!< The integer
- }scell;
-
- //! Union of a float and a udword
- typedef union {
- float f; //!< The float
- udword d; //!< The integer
- }ucell;
-
- // Type ranges
- #define MAX_SBYTE 0x7f //!< max possible sbyte value
- #define MIN_SBYTE 0x80 //!< min possible sbyte value
- #define MAX_UBYTE 0xff //!< max possible ubyte value
- #define MIN_UBYTE 0x00 //!< min possible ubyte value
- #define MAX_SWORD 0x7fff //!< max possible sword value
- #define MIN_SWORD 0x8000 //!< min possible sword value
- #define MAX_UWORD 0xffff //!< max possible uword value
- #define MIN_UWORD 0x0000 //!< min possible uword value
- #define MAX_SDWORD 0x7fffffff //!< max possible sdword value
- #define MIN_SDWORD 0x80000000 //!< min possible sdword value
- #define MAX_UDWORD 0xffffffff //!< max possible udword value
- #define MIN_UDWORD 0x00000000 //!< min possible udword value
- #define MAX_FLOAT FLT_MAX //!< max possible float value
- #define MIN_FLOAT (-FLT_MAX) //!< min possible loat value
- #define IEEE_1_0 0x3f800000 //!< integer representation of 1.0
- #define IEEE_255_0 0x437f0000 //!< integer representation of 255.0
- #define IEEE_MAX_FLOAT 0x7f7fffff //!< integer representation of MAX_FLOAT
- #define IEEE_MIN_FLOAT 0xff7fffff //!< integer representation of MIN_FLOAT
- #define IEEE_UNDERFLOW_LIMIT 0x1a000000
-
- #define ONE_OVER_RAND_MAX (1.0f / float(RAND_MAX)) //!< Inverse of the max possible value returned by rand()
-
- typedef int (__stdcall* PROC)(); //!< A standard procedure call.
- typedef bool (*ENUMERATION)(udword value, udword param, udword context); //!< ICE standard enumeration call
- typedef void** VTABLE; //!< A V-Table.
-
- #undef MIN
- #undef MAX
- #define MIN(a, b) ((a) < (b) ? (a) : (b)) //!< Returns the min value between a and b
- #define MAX(a, b) ((a) > (b) ? (a) : (b)) //!< Returns the max value between a and b
- #define MAXMAX(a,b,c) ((a) > (b) ? MAX (a,c) : MAX (b,c)) //!< Returns the max value between a, b and c
-
- template<class T> inline_ const T& TMin (const T& a, const T& b) { return b < a ? b : a; }
- template<class T> inline_ const T& TMax (const T& a, const T& b) { return a < b ? b : a; }
- template<class T> inline_ void TSetMin (T& a, const T& b) { if(a>b) a = b; }
- template<class T> inline_ void TSetMax (T& a, const T& b) { if(a<b) a = b; }
-
- #define SQR(x) ((x)*(x)) //!< Returns x square
- #define CUBE(x) ((x)*(x)*(x)) //!< Returns x cube
-
- #define AND & //!< ...
- #define OR | //!< ...
- #define XOR ^ //!< ...
-
- #define QUADRAT(x) ((x)*(x)) //!< Returns x square
-
-#ifdef _WIN32
-# define srand48(x) srand((unsigned int) (x))
-# define srandom(x) srand((unsigned int) (x))
-# define random() ((double) rand())
-# define drand48() ((double) (((double) rand()) / ((double) RAND_MAX)))
-#endif
-
-#endif // __ICETYPES_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains custom types. + * \file IceTypes.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICETYPES_H__ +#define __ICETYPES_H__ + + #define USE_HANDLE_MANAGER + + // Constants + #define PI 3.1415926535897932384626433832795028841971693993751f //!< PI + #define HALFPI 1.57079632679489661923f //!< 0.5 * PI + #define TWOPI 6.28318530717958647692f //!< 2.0 * PI + #define INVPI 0.31830988618379067154f //!< 1.0 / PI + + #define RADTODEG 57.2957795130823208768f //!< 180.0 / PI, convert radians to degrees + #define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians + + #define EXP 2.71828182845904523536f //!< e + #define INVLOG2 3.32192809488736234787f //!< 1.0 / log10(2) + #define LN2 0.693147180559945f //!< ln(2) + #define INVLN2 1.44269504089f //!< 1.0f / ln(2) + + #define INV3 0.33333333333333333333f //!< 1/3 + #define INV6 0.16666666666666666666f //!< 1/6 + #define INV7 0.14285714285714285714f //!< 1/7 + #define INV9 0.11111111111111111111f //!< 1/9 + #define INV255 0.00392156862745098039f //!< 1/255 + + #define SQRT2 1.41421356237f //!< sqrt(2) + #define INVSQRT2 0.707106781188f //!< 1 / sqrt(2) + + #define SQRT3 1.73205080757f //!< sqrt(3) + #define INVSQRT3 0.577350269189f //!< 1 / sqrt(3) + + #define null 0 //!< our own NULL pointer + + // Custom types used in ICE + typedef signed char sbyte; //!< sizeof(sbyte) must be 1 + typedef unsigned char ubyte; //!< sizeof(ubyte) must be 1 + typedef signed short sword; //!< sizeof(sword) must be 2 + typedef unsigned short uword; //!< sizeof(uword) must be 2 + typedef signed int sdword; //!< sizeof(sdword) must be 4 + typedef unsigned int udword; //!< sizeof(udword) must be 4 + typedef signed __int64 sqword; //!< sizeof(sqword) must be 8 + typedef unsigned __int64 uqword; //!< sizeof(uqword) must be 8 + typedef float float32; //!< sizeof(float32) must be 4 + typedef double float64; //!< sizeof(float64) must be 4 + + ICE_COMPILE_TIME_ASSERT(sizeof(bool)==1); // ...otherwise things might fail with VC++ 4.2 ! + ICE_COMPILE_TIME_ASSERT(sizeof(ubyte)==1); + ICE_COMPILE_TIME_ASSERT(sizeof(sbyte)==1); + ICE_COMPILE_TIME_ASSERT(sizeof(sword)==2); + ICE_COMPILE_TIME_ASSERT(sizeof(uword)==2); + ICE_COMPILE_TIME_ASSERT(sizeof(udword)==4); + ICE_COMPILE_TIME_ASSERT(sizeof(sdword)==4); + ICE_COMPILE_TIME_ASSERT(sizeof(uqword)==8); + ICE_COMPILE_TIME_ASSERT(sizeof(sqword)==8); + + //! TO BE DOCUMENTED + #define DECLARE_ICE_HANDLE(name) struct name##__ { int unused; }; typedef struct name##__ *name + + typedef udword DynID; //!< Dynamic identifier +#ifdef USE_HANDLE_MANAGER + typedef udword KID; //!< Kernel ID +// DECLARE_ICE_HANDLE(KID); +#else + typedef uword KID; //!< Kernel ID +#endif + typedef udword RTYPE; //!< Relationship-type (!) between owners and references + #define INVALID_ID 0xffffffff //!< Invalid dword ID (counterpart of null pointers) +#ifdef USE_HANDLE_MANAGER + #define INVALID_KID 0xffffffff //!< Invalid Kernel ID +#else + #define INVALID_KID 0xffff //!< Invalid Kernel ID +#endif + #define INVALID_NUMBER 0xDEADBEEF //!< Standard junk value + + // Define BOOL if needed + #ifndef BOOL + typedef int BOOL; //!< Another boolean type. + #endif + + //! Union of a float and a sdword + typedef union { + float f; //!< The float + sdword d; //!< The integer + }scell; + + //! Union of a float and a udword + typedef union { + float f; //!< The float + udword d; //!< The integer + }ucell; + + // Type ranges + #define MAX_SBYTE 0x7f //!< max possible sbyte value + #define MIN_SBYTE 0x80 //!< min possible sbyte value + #define MAX_UBYTE 0xff //!< max possible ubyte value + #define MIN_UBYTE 0x00 //!< min possible ubyte value + #define MAX_SWORD 0x7fff //!< max possible sword value + #define MIN_SWORD 0x8000 //!< min possible sword value + #define MAX_UWORD 0xffff //!< max possible uword value + #define MIN_UWORD 0x0000 //!< min possible uword value + #define MAX_SDWORD 0x7fffffff //!< max possible sdword value + #define MIN_SDWORD 0x80000000 //!< min possible sdword value + #define MAX_UDWORD 0xffffffff //!< max possible udword value + #define MIN_UDWORD 0x00000000 //!< min possible udword value + #define MAX_FLOAT FLT_MAX //!< max possible float value + #define MIN_FLOAT (-FLT_MAX) //!< min possible loat value + #define IEEE_1_0 0x3f800000 //!< integer representation of 1.0 + #define IEEE_255_0 0x437f0000 //!< integer representation of 255.0 + #define IEEE_MAX_FLOAT 0x7f7fffff //!< integer representation of MAX_FLOAT + #define IEEE_MIN_FLOAT 0xff7fffff //!< integer representation of MIN_FLOAT + #define IEEE_UNDERFLOW_LIMIT 0x1a000000 + + #define ONE_OVER_RAND_MAX (1.0f / float(RAND_MAX)) //!< Inverse of the max possible value returned by rand() + + typedef int (__stdcall* PROC)(); //!< A standard procedure call. + typedef bool (*ENUMERATION)(udword value, udword param, udword context); //!< ICE standard enumeration call + typedef void** VTABLE; //!< A V-Table. + + #undef MIN + #undef MAX + #define MIN(a, b) ((a) < (b) ? (a) : (b)) //!< Returns the min value between a and b + #define MAX(a, b) ((a) > (b) ? (a) : (b)) //!< Returns the max value between a and b + #define MAXMAX(a,b,c) ((a) > (b) ? MAX (a,c) : MAX (b,c)) //!< Returns the max value between a, b and c + + template<class T> inline_ const T& TMin (const T& a, const T& b) { return b < a ? b : a; } + template<class T> inline_ const T& TMax (const T& a, const T& b) { return a < b ? b : a; } + template<class T> inline_ void TSetMin (T& a, const T& b) { if(a>b) a = b; } + template<class T> inline_ void TSetMax (T& a, const T& b) { if(a<b) a = b; } + + #define SQR(x) ((x)*(x)) //!< Returns x square + #define CUBE(x) ((x)*(x)*(x)) //!< Returns x cube + + #define AND & //!< ... + #define OR | //!< ... + #define XOR ^ //!< ... + + #define QUADRAT(x) ((x)*(x)) //!< Returns x square + +#ifdef _WIN32 +# define srand48(x) srand((unsigned int) (x)) +# define srandom(x) srand((unsigned int) (x)) +# define random() ((double) rand()) +# define drand48() ((double) (((double) rand()) / ((double) RAND_MAX))) +#endif + +#endif // __ICETYPES_H__ diff --git a/Opcode/Ice/IceUtils.cpp b/Opcode/Ice/IceUtils.cpp index 7ed9cdb..890209c 100644 --- a/Opcode/Ice/IceUtils.cpp +++ b/Opcode/Ice/IceUtils.cpp @@ -1,39 +1,39 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains misc. useful macros & defines.
- * \file IceUtils.cpp
- * \author Pierre Terdiman (collected from various sources)
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace IceCore;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Returns the alignment of the input address.
- * \fn Alignment()
- * \param address [in] address to check
- * \return the best alignment (e.g. 1 for odd addresses, etc)
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword IceCore::Alignment(udword address)
-{
- // Returns 0 for null addresses
- if(!address) return 0;
-
- // Test all bits
- udword Align = 1;
- for(udword i=1;i<32;i++)
- {
- // Returns as soon as the alignment is broken
- if(address&Align) return Align;
- Align<<=1;
- }
- // Here all bits are null, except the highest one (else the address would be null)
- return Align;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains misc. useful macros & defines. + * \file IceUtils.cpp + * \author Pierre Terdiman (collected from various sources) + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace IceCore; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns the alignment of the input address. + * \fn Alignment() + * \param address [in] address to check + * \return the best alignment (e.g. 1 for odd addresses, etc) + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword IceCore::Alignment(udword address) +{ + // Returns 0 for null addresses + if(!address) return 0; + + // Test all bits + udword Align = 1; + for(udword i=1;i<32;i++) + { + // Returns as soon as the alignment is broken + if(address&Align) return Align; + Align<<=1; + } + // Here all bits are null, except the highest one (else the address would be null) + return Align; +} diff --git a/Opcode/Ice/IceUtils.h b/Opcode/Ice/IceUtils.h index 9c1e045..789bbe5 100644 --- a/Opcode/Ice/IceUtils.h +++ b/Opcode/Ice/IceUtils.h @@ -1,256 +1,256 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains misc. useful macros & defines.
- * \file IceUtils.h
- * \author Pierre Terdiman (collected from various sources)
- * \date April, 4, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __ICEUTILS_H__
-#define __ICEUTILS_H__
-
- #define START_RUNONCE { static bool __RunOnce__ = false; if(!__RunOnce__){
- #define END_RUNONCE __RunOnce__ = true;}}
-
- //! Reverse all the bits in a 32 bit word (from Steve Baker's Cute Code Collection)
- //! (each line can be done in any order.
- inline_ void ReverseBits(udword& n)
- {
- n = ((n >> 1) & 0x55555555) | ((n << 1) & 0xaaaaaaaa);
- n = ((n >> 2) & 0x33333333) | ((n << 2) & 0xcccccccc);
- n = ((n >> 4) & 0x0f0f0f0f) | ((n << 4) & 0xf0f0f0f0);
- n = ((n >> 8) & 0x00ff00ff) | ((n << 8) & 0xff00ff00);
- n = ((n >> 16) & 0x0000ffff) | ((n << 16) & 0xffff0000);
- // Etc for larger intergers (64 bits in Java)
- // NOTE: the >> operation must be unsigned! (>>> in java)
- }
-
- //! Count the number of '1' bits in a 32 bit word (from Steve Baker's Cute Code Collection)
- inline_ udword CountBits(udword n)
- {
- // This relies of the fact that the count of n bits can NOT overflow
- // an n bit interger. EG: 1 bit count takes a 1 bit interger, 2 bit counts
- // 2 bit interger, 3 bit count requires only a 2 bit interger.
- // So we add all bit pairs, then each nible, then each byte etc...
- n = (n & 0x55555555) + ((n & 0xaaaaaaaa) >> 1);
- n = (n & 0x33333333) + ((n & 0xcccccccc) >> 2);
- n = (n & 0x0f0f0f0f) + ((n & 0xf0f0f0f0) >> 4);
- n = (n & 0x00ff00ff) + ((n & 0xff00ff00) >> 8);
- n = (n & 0x0000ffff) + ((n & 0xffff0000) >> 16);
- // Etc for larger intergers (64 bits in Java)
- // NOTE: the >> operation must be unsigned! (>>> in java)
- return n;
- }
-
- //! Even faster?
- inline_ udword CountBits2(udword bits)
- {
- bits = bits - ((bits >> 1) & 0x55555555);
- bits = ((bits >> 2) & 0x33333333) + (bits & 0x33333333);
- bits = ((bits >> 4) + bits) & 0x0F0F0F0F;
- return (bits * 0x01010101) >> 24;
- }
-
- //! Spread out bits. EG 00001111 -> 0101010101
- //! 00001010 -> 0100010000
- //! This is used to interleve to intergers to produce a `Morten Key'
- //! used in Space Filling Curves (See DrDobbs Journal, July 1999)
- //! Order is important.
- inline_ void SpreadBits(udword& n)
- {
- n = ( n & 0x0000ffff) | (( n & 0xffff0000) << 16);
- n = ( n & 0x000000ff) | (( n & 0x0000ff00) << 8);
- n = ( n & 0x000f000f) | (( n & 0x00f000f0) << 4);
- n = ( n & 0x03030303) | (( n & 0x0c0c0c0c) << 2);
- n = ( n & 0x11111111) | (( n & 0x22222222) << 1);
- }
-
- // Next Largest Power of 2
- // Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm
- // that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with
- // the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next
- // largest power of 2. For a 32-bit value:
- inline_ udword nlpo2(udword x)
- {
- x |= (x >> 1);
- x |= (x >> 2);
- x |= (x >> 4);
- x |= (x >> 8);
- x |= (x >> 16);
- return x+1;
- }
-
- //! Test to see if a number is an exact power of two (from Steve Baker's Cute Code Collection)
- inline_ bool IsPowerOfTwo(udword n) { return ((n&(n-1))==0); }
-
- //! Zero the least significant '1' bit in a word. (from Steve Baker's Cute Code Collection)
- inline_ void ZeroLeastSetBit(udword& n) { n&=(n-1); }
-
- //! Set the least significant N bits in a word. (from Steve Baker's Cute Code Collection)
- inline_ void SetLeastNBits(udword& x, udword n) { x|=~(~0<<n); }
-
- //! Classic XOR swap (from Steve Baker's Cute Code Collection)
- //! x ^= y; /* x' = (x^y) */
- //! y ^= x; /* y' = (y^(x^y)) = x */
- //! x ^= y; /* x' = (x^y)^x = y */
- inline_ void Swap(udword& x, udword& y) { x ^= y; y ^= x; x ^= y; }
-
- //! Little/Big endian (from Steve Baker's Cute Code Collection)
- //!
- //! Extra comments by Kenny Hoff:
- //! Determines the byte-ordering of the current machine (little or big endian)
- //! by setting an integer value to 1 (so least significant bit is now 1); take
- //! the address of the int and cast to a byte pointer (treat integer as an
- //! array of four bytes); check the value of the first byte (must be 0 or 1).
- //! If the value is 1, then the first byte least significant byte and this
- //! implies LITTLE endian. If the value is 0, the first byte is the most
- //! significant byte, BIG endian. Examples:
- //! integer 1 on BIG endian: 00000000 00000000 00000000 00000001
- //! integer 1 on LITTLE endian: 00000001 00000000 00000000 00000000
- //!---------------------------------------------------------------------------
- //! int IsLittleEndian() { int x=1; return ( ((char*)(&x))[0] ); }
- inline_ char LittleEndian() { int i = 1; return *((char*)&i); }
-
- //!< Alternative abs function
- inline_ udword abs_(sdword x) { sdword y= x >> 31; return (x^y)-y; }
-
- //!< Alternative min function
- inline_ sdword min_(sdword a, sdword b) { sdword delta = b-a; return a + (delta&(delta>>31)); }
-
- // Determine if one of the bytes in a 4 byte word is zero
- inline_ BOOL HasNullByte(udword x) { return ((x + 0xfefefeff) & (~x) & 0x80808080); }
-
- // To find the smallest 1 bit in a word EG: ~~~~~~10---0 => 0----010---0
- inline_ udword LowestOneBit(udword w) { return ((w) & (~(w)+1)); }
-// inline_ udword LowestOneBit_(udword w) { return ((w) & (-(w))); }
-
- // Most Significant 1 Bit
- // Given a binary integer value x, the most significant 1 bit (highest numbered element of a bit set)
- // can be computed using a SWAR algorithm that recursively "folds" the upper bits into the lower bits.
- // This process yields a bit vector with the same most significant 1 as x, but all 1's below it.
- // Bitwise AND of the original value with the complement of the "folded" value shifted down by one
- // yields the most significant bit. For a 32-bit value:
- inline_ udword msb32(udword x)
- {
- x |= (x >> 1);
- x |= (x >> 2);
- x |= (x >> 4);
- x |= (x >> 8);
- x |= (x >> 16);
- return (x & ~(x >> 1));
- }
-
- /*
- "Just call it repeatedly with various input values and always with the same variable as "memory".
- The sharpness determines the degree of filtering, where 0 completely filters out the input, and 1
- does no filtering at all.
-
- I seem to recall from college that this is called an IIR (Infinite Impulse Response) filter. As opposed
- to the more typical FIR (Finite Impulse Response).
-
- Also, I'd say that you can make more intelligent and interesting filters than this, for example filters
- that remove wrong responses from the mouse because it's being moved too fast. You'd want such a filter
- to be applied before this one, of course."
-
- (JCAB on Flipcode)
- */
- inline_ float FeedbackFilter(float val, float& memory, float sharpness)
- {
- ASSERT(sharpness>=0.0f && sharpness<=1.0f && "Invalid sharpness value in feedback filter");
- if(sharpness<0.0f) sharpness = 0.0f;
- else if(sharpness>1.0f) sharpness = 1.0f;
- return memory = val * sharpness + memory * (1.0f - sharpness);
- }
-
- //! If you can guarantee that your input domain (i.e. value of x) is slightly
- //! limited (abs(x) must be < ((1<<31u)-32767)), then you can use the
- //! following code to clamp the resulting value into [-32768,+32767] range:
- inline_ int ClampToInt16(int x)
- {
-// ASSERT(abs(x) < (int)((1<<31u)-32767));
-
- int delta = 32767 - x;
- x += (delta>>31) & delta;
- delta = x + 32768;
- x -= (delta>>31) & delta;
- return x;
- }
-
- // Generic functions
- template<class Type> inline_ void TSwap(Type& a, Type& b) { const Type c = a; a = b; b = c; }
- template<class Type> inline_ Type TClamp(const Type& x, const Type& lo, const Type& hi) { return ((x<lo) ? lo : (x>hi) ? hi : x); }
-
- template<class Type> inline_ void TSort(Type& a, Type& b)
- {
- if(a>b) TSwap(a, b);
- }
-
- template<class Type> inline_ void TSort(Type& a, Type& b, Type& c)
- {
- if(a>b) TSwap(a, b);
- if(b>c) TSwap(b, c);
- if(a>b) TSwap(a, b);
- if(b>c) TSwap(b, c);
- }
-
- // Prevent nasty user-manipulations (strategy borrowed from Charles Bloom)
-// #define PREVENT_COPY(curclass) void operator = (const curclass& object) { ASSERT(!"Bad use of operator ="); }
- // ... actually this is better !
- #define PREVENT_COPY(cur_class) private: cur_class(const cur_class& object); cur_class& operator=(const cur_class& object);
-
- //! TO BE DOCUMENTED
- #define OFFSET_OF(Class, Member) (size_t)&(((Class*)0)->Member)
- //! TO BE DOCUMENTED
- #define ICEARRAYSIZE(p) (sizeof(p)/sizeof(p[0]))
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Returns the alignment of the input address.
- * \fn Alignment()
- * \param address [in] address to check
- * \return the best alignment (e.g. 1 for odd addresses, etc)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- FUNCTION ICECORE_API udword Alignment(udword address);
-
- #define IS_ALIGNED_2(x) ((x&1)==0)
- #define IS_ALIGNED_4(x) ((x&3)==0)
- #define IS_ALIGNED_8(x) ((x&7)==0)
-
- inline_ void _prefetch(void const* ptr) { (void)*(char const volatile *)ptr; }
-
- // Compute implicit coords from an index:
- // The idea is to get back 2D coords from a 1D index.
- // For example:
- //
- // 0 1 2 ... nbu-1
- // nbu nbu+1 i ...
- //
- // We have i, we're looking for the equivalent (u=2, v=1) location.
- // i = u + v*nbu
- // <=> i/nbu = u/nbu + v
- // Since 0 <= u < nbu, u/nbu = 0 (integer)
- // Hence: v = i/nbu
- // Then we simply put it back in the original equation to compute u = i - v*nbu
- inline_ void Compute2DCoords(udword& u, udword& v, udword i, udword nbu)
- {
- v = i / nbu;
- u = i - (v * nbu);
- }
-
- // In 3D: i = u + v*nbu + w*nbu*nbv
- // <=> i/(nbu*nbv) = u/(nbu*nbv) + v/nbv + w
- // u/(nbu*nbv) is null since u/nbu was null already.
- // v/nbv is null as well for the same reason.
- // Hence w = i/(nbu*nbv)
- // Then we're left with a 2D problem: i' = i - w*nbu*nbv = u + v*nbu
- inline_ void Compute3DCoords(udword& u, udword& v, udword& w, udword i, udword nbu, udword nbu_nbv)
- {
- w = i / (nbu_nbv);
- Compute2DCoords(u, v, i - (w * nbu_nbv), nbu);
- }
-
-#endif // __ICEUTILS_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains misc. useful macros & defines. + * \file IceUtils.h + * \author Pierre Terdiman (collected from various sources) + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEUTILS_H__ +#define __ICEUTILS_H__ + + #define START_RUNONCE { static bool __RunOnce__ = false; if(!__RunOnce__){ + #define END_RUNONCE __RunOnce__ = true;}} + + //! Reverse all the bits in a 32 bit word (from Steve Baker's Cute Code Collection) + //! (each line can be done in any order. + inline_ void ReverseBits(udword& n) + { + n = ((n >> 1) & 0x55555555) | ((n << 1) & 0xaaaaaaaa); + n = ((n >> 2) & 0x33333333) | ((n << 2) & 0xcccccccc); + n = ((n >> 4) & 0x0f0f0f0f) | ((n << 4) & 0xf0f0f0f0); + n = ((n >> 8) & 0x00ff00ff) | ((n << 8) & 0xff00ff00); + n = ((n >> 16) & 0x0000ffff) | ((n << 16) & 0xffff0000); + // Etc for larger intergers (64 bits in Java) + // NOTE: the >> operation must be unsigned! (>>> in java) + } + + //! Count the number of '1' bits in a 32 bit word (from Steve Baker's Cute Code Collection) + inline_ udword CountBits(udword n) + { + // This relies of the fact that the count of n bits can NOT overflow + // an n bit interger. EG: 1 bit count takes a 1 bit interger, 2 bit counts + // 2 bit interger, 3 bit count requires only a 2 bit interger. + // So we add all bit pairs, then each nible, then each byte etc... + n = (n & 0x55555555) + ((n & 0xaaaaaaaa) >> 1); + n = (n & 0x33333333) + ((n & 0xcccccccc) >> 2); + n = (n & 0x0f0f0f0f) + ((n & 0xf0f0f0f0) >> 4); + n = (n & 0x00ff00ff) + ((n & 0xff00ff00) >> 8); + n = (n & 0x0000ffff) + ((n & 0xffff0000) >> 16); + // Etc for larger intergers (64 bits in Java) + // NOTE: the >> operation must be unsigned! (>>> in java) + return n; + } + + //! Even faster? + inline_ udword CountBits2(udword bits) + { + bits = bits - ((bits >> 1) & 0x55555555); + bits = ((bits >> 2) & 0x33333333) + (bits & 0x33333333); + bits = ((bits >> 4) + bits) & 0x0F0F0F0F; + return (bits * 0x01010101) >> 24; + } + + //! Spread out bits. EG 00001111 -> 0101010101 + //! 00001010 -> 0100010000 + //! This is used to interleve to intergers to produce a `Morten Key' + //! used in Space Filling Curves (See DrDobbs Journal, July 1999) + //! Order is important. + inline_ void SpreadBits(udword& n) + { + n = ( n & 0x0000ffff) | (( n & 0xffff0000) << 16); + n = ( n & 0x000000ff) | (( n & 0x0000ff00) << 8); + n = ( n & 0x000f000f) | (( n & 0x00f000f0) << 4); + n = ( n & 0x03030303) | (( n & 0x0c0c0c0c) << 2); + n = ( n & 0x11111111) | (( n & 0x22222222) << 1); + } + + // Next Largest Power of 2 + // Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm + // that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with + // the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next + // largest power of 2. For a 32-bit value: + inline_ udword nlpo2(udword x) + { + x |= (x >> 1); + x |= (x >> 2); + x |= (x >> 4); + x |= (x >> 8); + x |= (x >> 16); + return x+1; + } + + //! Test to see if a number is an exact power of two (from Steve Baker's Cute Code Collection) + inline_ bool IsPowerOfTwo(udword n) { return ((n&(n-1))==0); } + + //! Zero the least significant '1' bit in a word. (from Steve Baker's Cute Code Collection) + inline_ void ZeroLeastSetBit(udword& n) { n&=(n-1); } + + //! Set the least significant N bits in a word. (from Steve Baker's Cute Code Collection) + inline_ void SetLeastNBits(udword& x, udword n) { x|=~(~0<<n); } + + //! Classic XOR swap (from Steve Baker's Cute Code Collection) + //! x ^= y; /* x' = (x^y) */ + //! y ^= x; /* y' = (y^(x^y)) = x */ + //! x ^= y; /* x' = (x^y)^x = y */ + inline_ void Swap(udword& x, udword& y) { x ^= y; y ^= x; x ^= y; } + + //! Little/Big endian (from Steve Baker's Cute Code Collection) + //! + //! Extra comments by Kenny Hoff: + //! Determines the byte-ordering of the current machine (little or big endian) + //! by setting an integer value to 1 (so least significant bit is now 1); take + //! the address of the int and cast to a byte pointer (treat integer as an + //! array of four bytes); check the value of the first byte (must be 0 or 1). + //! If the value is 1, then the first byte least significant byte and this + //! implies LITTLE endian. If the value is 0, the first byte is the most + //! significant byte, BIG endian. Examples: + //! integer 1 on BIG endian: 00000000 00000000 00000000 00000001 + //! integer 1 on LITTLE endian: 00000001 00000000 00000000 00000000 + //!--------------------------------------------------------------------------- + //! int IsLittleEndian() { int x=1; return ( ((char*)(&x))[0] ); } + inline_ char LittleEndian() { int i = 1; return *((char*)&i); } + + //!< Alternative abs function + inline_ udword abs_(sdword x) { sdword y= x >> 31; return (x^y)-y; } + + //!< Alternative min function + inline_ sdword min_(sdword a, sdword b) { sdword delta = b-a; return a + (delta&(delta>>31)); } + + // Determine if one of the bytes in a 4 byte word is zero + inline_ BOOL HasNullByte(udword x) { return ((x + 0xfefefeff) & (~x) & 0x80808080); } + + // To find the smallest 1 bit in a word EG: ~~~~~~10---0 => 0----010---0 + inline_ udword LowestOneBit(udword w) { return ((w) & (~(w)+1)); } +// inline_ udword LowestOneBit_(udword w) { return ((w) & (-(w))); } + + // Most Significant 1 Bit + // Given a binary integer value x, the most significant 1 bit (highest numbered element of a bit set) + // can be computed using a SWAR algorithm that recursively "folds" the upper bits into the lower bits. + // This process yields a bit vector with the same most significant 1 as x, but all 1's below it. + // Bitwise AND of the original value with the complement of the "folded" value shifted down by one + // yields the most significant bit. For a 32-bit value: + inline_ udword msb32(udword x) + { + x |= (x >> 1); + x |= (x >> 2); + x |= (x >> 4); + x |= (x >> 8); + x |= (x >> 16); + return (x & ~(x >> 1)); + } + + /* + "Just call it repeatedly with various input values and always with the same variable as "memory". + The sharpness determines the degree of filtering, where 0 completely filters out the input, and 1 + does no filtering at all. + + I seem to recall from college that this is called an IIR (Infinite Impulse Response) filter. As opposed + to the more typical FIR (Finite Impulse Response). + + Also, I'd say that you can make more intelligent and interesting filters than this, for example filters + that remove wrong responses from the mouse because it's being moved too fast. You'd want such a filter + to be applied before this one, of course." + + (JCAB on Flipcode) + */ + inline_ float FeedbackFilter(float val, float& memory, float sharpness) + { + ASSERT(sharpness>=0.0f && sharpness<=1.0f && "Invalid sharpness value in feedback filter"); + if(sharpness<0.0f) sharpness = 0.0f; + else if(sharpness>1.0f) sharpness = 1.0f; + return memory = val * sharpness + memory * (1.0f - sharpness); + } + + //! If you can guarantee that your input domain (i.e. value of x) is slightly + //! limited (abs(x) must be < ((1<<31u)-32767)), then you can use the + //! following code to clamp the resulting value into [-32768,+32767] range: + inline_ int ClampToInt16(int x) + { +// ASSERT(abs(x) < (int)((1<<31u)-32767)); + + int delta = 32767 - x; + x += (delta>>31) & delta; + delta = x + 32768; + x -= (delta>>31) & delta; + return x; + } + + // Generic functions + template<class Type> inline_ void TSwap(Type& a, Type& b) { const Type c = a; a = b; b = c; } + template<class Type> inline_ Type TClamp(const Type& x, const Type& lo, const Type& hi) { return ((x<lo) ? lo : (x>hi) ? hi : x); } + + template<class Type> inline_ void TSort(Type& a, Type& b) + { + if(a>b) TSwap(a, b); + } + + template<class Type> inline_ void TSort(Type& a, Type& b, Type& c) + { + if(a>b) TSwap(a, b); + if(b>c) TSwap(b, c); + if(a>b) TSwap(a, b); + if(b>c) TSwap(b, c); + } + + // Prevent nasty user-manipulations (strategy borrowed from Charles Bloom) +// #define PREVENT_COPY(curclass) void operator = (const curclass& object) { ASSERT(!"Bad use of operator ="); } + // ... actually this is better ! + #define PREVENT_COPY(cur_class) private: cur_class(const cur_class& object); cur_class& operator=(const cur_class& object); + + //! TO BE DOCUMENTED + #define OFFSET_OF(Class, Member) (size_t)&(((Class*)0)->Member) + //! TO BE DOCUMENTED + #define ICEARRAYSIZE(p) (sizeof(p)/sizeof(p[0])) + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Returns the alignment of the input address. + * \fn Alignment() + * \param address [in] address to check + * \return the best alignment (e.g. 1 for odd addresses, etc) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + FUNCTION ICECORE_API udword Alignment(udword address); + + #define IS_ALIGNED_2(x) ((x&1)==0) + #define IS_ALIGNED_4(x) ((x&3)==0) + #define IS_ALIGNED_8(x) ((x&7)==0) + + inline_ void _prefetch(void const* ptr) { (void)*(char const volatile *)ptr; } + + // Compute implicit coords from an index: + // The idea is to get back 2D coords from a 1D index. + // For example: + // + // 0 1 2 ... nbu-1 + // nbu nbu+1 i ... + // + // We have i, we're looking for the equivalent (u=2, v=1) location. + // i = u + v*nbu + // <=> i/nbu = u/nbu + v + // Since 0 <= u < nbu, u/nbu = 0 (integer) + // Hence: v = i/nbu + // Then we simply put it back in the original equation to compute u = i - v*nbu + inline_ void Compute2DCoords(udword& u, udword& v, udword i, udword nbu) + { + v = i / nbu; + u = i - (v * nbu); + } + + // In 3D: i = u + v*nbu + w*nbu*nbv + // <=> i/(nbu*nbv) = u/(nbu*nbv) + v/nbv + w + // u/(nbu*nbv) is null since u/nbu was null already. + // v/nbv is null as well for the same reason. + // Hence w = i/(nbu*nbv) + // Then we're left with a 2D problem: i' = i - w*nbu*nbv = u + v*nbu + inline_ void Compute3DCoords(udword& u, udword& v, udword& w, udword i, udword nbu, udword nbu_nbv) + { + w = i / (nbu_nbv); + Compute2DCoords(u, v, i - (w * nbu_nbv), nbu); + } + +#endif // __ICEUTILS_H__ diff --git a/Opcode/OPC_AABBCollider.cpp b/Opcode/OPC_AABBCollider.cpp index ec9a9cf..a3cfa62 100644 --- a/Opcode/OPC_AABBCollider.cpp +++ b/Opcode/OPC_AABBCollider.cpp @@ -1,696 +1,696 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for an AABB collider.
- * \file OPC_AABBCollider.cpp
- * \author Pierre Terdiman
- * \date January, 1st, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains an AABB-vs-tree collider.
- *
- * \class AABBCollider
- * \author Pierre Terdiman
- * \version 1.3
- * \date January, 1st, 2002
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-#include "OPC_BoxBoxOverlap.h"
-#include "OPC_TriBoxOverlap.h"
-
-#define SET_CONTACT(prim_index, flag) \
- /* Set contact status */ \
- mFlags |= flag; \
- mTouchedPrimitives->Add(prim_index);
-
-//! AABB-triangle test
-#define AABB_PRIM(prim_index, flag) \
- /* Request vertices from the app */ \
- VertexPointers VP; mIMesh->GetTriangle(VP, prim_index);\
- mLeafVerts[0] = *VP.Vertex[0]; \
- mLeafVerts[1] = *VP.Vertex[1]; \
- mLeafVerts[2] = *VP.Vertex[2]; \
- /* Perform triangle-box overlap test */ \
- if(TriBoxOverlap()) \
- { \
- SET_CONTACT(prim_index, flag) \
- }
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBCollider::AABBCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBCollider::~AABBCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Generic collision query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - with GetNbTouchedPrimitives()
- * - with GetTouchedPrimitives()
- *
- * \param cache [in/out] a box cache
- * \param box [in] collision AABB in world space
- * \param model [in] Opcode model to collide with
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const Model& model)
-{
- // Checkings
- if(!Setup(&model)) return false;
-
- // Init collision query
- if(InitQuery(cache, box)) 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
- * - check temporal coherence
- *
- * \param cache [in/out] a box cache
- * \param box [in] AABB in world space
- * \return TRUE if we can return immediately
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-BOOL AABBCollider::InitQuery(AABBCache& cache, const CollisionAABB& box)
-{
- // 1) Call the base method
- VolumeCollider::InitQuery();
-
- // 2) Keep track of the query box
- mBox = box;
-
- // 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 box (and set contact status if needed)
- AABB_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 box (and set contact status if needed)
- AABB_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 box N(ew) against the previous fat box P(revious):
- if(IsCacheValid(cache) && mBox.IsInside(cache.FatBox))
- {
- // - 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 box so that coherence will work for subsequent frames
- mBox.mExtents *= cache.FatCoeff;
-
- // Update cache with query data (signature for cached faces)
- cache.FatBox = mBox;
- }
- }
- }
- else
- {
- // Here we don't use temporal coherence => do a normal query
- mTouchedPrimitives->Reset();
- }
-
- // 5) Precompute min & max bounds if needed
- mMin = box.mCenter - box.mExtents;
- mMax = box.mCenter + box.mExtents;
-
- return FALSE;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Collision query for vanilla AABB trees.
- * \param cache [in/out] a box cache
- * \param box [in] collision AABB in world space
- * \param tree [in] AABB tree
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, 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, box)) return true;
-
- // Perform collision query
- _Collide(tree);
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks the AABB 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 AABB contains the whole box
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL AABBCollider::AABBContainsBox(const IcePoint& bc, const IcePoint& be)
-{
- if(mMin.x > bc.x - be.x) return FALSE;
- if(mMin.y > bc.y - be.y) return FALSE;
- if(mMin.z > bc.z - be.z) return FALSE;
-
- if(mMax.x < bc.x + be.x) return FALSE;
- if(mMax.y < bc.y + be.y) return FALSE;
- if(mMax.z < bc.z + be.z) return FALSE;
-
- return TRUE;
-}
-
-#define TEST_BOX_IN_AABB(center, extents) \
- if(AABBContainsBox(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 AABBCollider::_Collide(const AABBCollisionNode* node)
-{
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->IsLeaf())
- {
- AABB_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 AABBCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)
-{
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_AABB(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 AABBCollider::_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 AABB-AABB overlap test
- if(!AABBAABBOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_AABB(Center, Extents)
-
- if(node->IsLeaf())
- {
- AABB_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 AABBCollider::_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 AABB-AABB overlap test
- if(!AABBAABBOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_AABB(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 AABBCollider::_Collide(const AABBNoLeafNode* node)
-{
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->HasPosLeaf()) { AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { AABB_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 AABBCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)
-{
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_AABB(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 AABBCollider::_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 AABB-AABB overlap test
- if(!AABBAABBOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_AABB(Center, Extents)
-
- if(node->HasPosLeaf()) { AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { AABB_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 AABBCollider::_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 AABB-AABB overlap test
- if(!AABBAABBOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_AABB(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 AABBCollider::_Collide(const AABBTreeNode* node)
-{
- // Perform AABB-AABB overlap test
- IcePoint Center, Extents;
- node->GetAABB()->GetCenter(Center);
- node->GetAABB()->GetExtents(Extents);
- if(!AABBAABBOverlap(Center, Extents)) return;
-
- if(node->IsLeaf() || AABBContainsBox(Center, Extents))
- {
- mFlags |= OPC_CONTACT;
- mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives());
- }
- else
- {
- _Collide(node->GetPos());
- _Collide(node->GetNeg());
- }
-}
-
-
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridAABBCollider::HybridAABBCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridAABBCollider::~HybridAABBCollider()
-{
-}
-
-bool HybridAABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model)
-{
- // We don't want primitive tests here!
- mFlags |= OPC_NO_PRIMITIVE_TESTS;
-
- // Checkings
- if(!Setup(&model)) return false;
-
- // Init collision query
- if(InitQuery(cache, box)) 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++)
- {
- AABB_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++;
- AABB_PRIM(TriangleIndex, OPC_CONTACT)
- }
- }
- else
- {
- udword BaseIndex = CurrentLeaf.GetTriangleIndex();
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- udword TriangleIndex = BaseIndex++;
- AABB_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 an AABB collider. + * \file OPC_AABBCollider.cpp + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains an AABB-vs-tree collider. + * + * \class AABBCollider + * \author Pierre Terdiman + * \version 1.3 + * \date January, 1st, 2002 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +#include "OPC_BoxBoxOverlap.h" +#include "OPC_TriBoxOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + /* Set contact status */ \ + mFlags |= flag; \ + mTouchedPrimitives->Add(prim_index); + +//! AABB-triangle test +#define AABB_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; mIMesh->GetTriangle(VP, prim_index);\ + mLeafVerts[0] = *VP.Vertex[0]; \ + mLeafVerts[1] = *VP.Vertex[1]; \ + mLeafVerts[2] = *VP.Vertex[2]; \ + /* Perform triangle-box overlap test */ \ + if(TriBoxOverlap()) \ + { \ + SET_CONTACT(prim_index, flag) \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBCollider::AABBCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBCollider::~AABBCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a box cache + * \param box [in] collision AABB in world space + * \param model [in] Opcode model to collide with + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const Model& model) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(cache, box)) 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 + * - check temporal coherence + * + * \param cache [in/out] a box cache + * \param box [in] AABB in world space + * \return TRUE if we can return immediately + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL AABBCollider::InitQuery(AABBCache& cache, const CollisionAABB& box) +{ + // 1) Call the base method + VolumeCollider::InitQuery(); + + // 2) Keep track of the query box + mBox = box; + + // 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 box (and set contact status if needed) + AABB_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 box (and set contact status if needed) + AABB_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 box N(ew) against the previous fat box P(revious): + if(IsCacheValid(cache) && mBox.IsInside(cache.FatBox)) + { + // - 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 box so that coherence will work for subsequent frames + mBox.mExtents *= cache.FatCoeff; + + // Update cache with query data (signature for cached faces) + cache.FatBox = mBox; + } + } + } + else + { + // Here we don't use temporal coherence => do a normal query + mTouchedPrimitives->Reset(); + } + + // 5) Precompute min & max bounds if needed + mMin = box.mCenter - box.mExtents; + mMax = box.mCenter + box.mExtents; + + return FALSE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for vanilla AABB trees. + * \param cache [in/out] a box cache + * \param box [in] collision AABB in world space + * \param tree [in] AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, 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, box)) return true; + + // Perform collision query + _Collide(tree); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the AABB 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 AABB contains the whole box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL AABBCollider::AABBContainsBox(const IcePoint& bc, const IcePoint& be) +{ + if(mMin.x > bc.x - be.x) return FALSE; + if(mMin.y > bc.y - be.y) return FALSE; + if(mMin.z > bc.z - be.z) return FALSE; + + if(mMax.x < bc.x + be.x) return FALSE; + if(mMax.y < bc.y + be.y) return FALSE; + if(mMax.z < bc.z + be.z) return FALSE; + + return TRUE; +} + +#define TEST_BOX_IN_AABB(center, extents) \ + if(AABBContainsBox(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 AABBCollider::_Collide(const AABBCollisionNode* node) +{ + // Perform AABB-AABB overlap test + if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->IsLeaf()) + { + AABB_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 AABBCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) +{ + // Perform AABB-AABB overlap test + if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_AABB(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 AABBCollider::_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 AABB-AABB overlap test + if(!AABBAABBOverlap(Extents, Center)) return; + + TEST_BOX_IN_AABB(Center, Extents) + + if(node->IsLeaf()) + { + AABB_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 AABBCollider::_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 AABB-AABB overlap test + if(!AABBAABBOverlap(Extents, Center)) return; + + TEST_BOX_IN_AABB(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 AABBCollider::_Collide(const AABBNoLeafNode* node) +{ + // Perform AABB-AABB overlap test + if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->HasPosLeaf()) { AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { AABB_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 AABBCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) +{ + // Perform AABB-AABB overlap test + if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_AABB(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 AABBCollider::_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 AABB-AABB overlap test + if(!AABBAABBOverlap(Extents, Center)) return; + + TEST_BOX_IN_AABB(Center, Extents) + + if(node->HasPosLeaf()) { AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { AABB_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 AABBCollider::_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 AABB-AABB overlap test + if(!AABBAABBOverlap(Extents, Center)) return; + + TEST_BOX_IN_AABB(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 AABBCollider::_Collide(const AABBTreeNode* node) +{ + // Perform AABB-AABB overlap test + IcePoint Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!AABBAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf() || AABBContainsBox(Center, Extents)) + { + mFlags |= OPC_CONTACT; + mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _Collide(node->GetPos()); + _Collide(node->GetNeg()); + } +} + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridAABBCollider::HybridAABBCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridAABBCollider::~HybridAABBCollider() +{ +} + +bool HybridAABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model) +{ + // We don't want primitive tests here! + mFlags |= OPC_NO_PRIMITIVE_TESTS; + + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(cache, box)) 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++) + { + AABB_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++; + AABB_PRIM(TriangleIndex, OPC_CONTACT) + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + udword TriangleIndex = BaseIndex++; + AABB_PRIM(TriangleIndex, OPC_CONTACT) + } + } + } + } + + return true; +} diff --git a/Opcode/OPC_AABBCollider.h b/Opcode/OPC_AABBCollider.h index 1d773f1..c792b44 100644 --- a/Opcode/OPC_AABBCollider.h +++ b/Opcode/OPC_AABBCollider.h @@ -1,97 +1,97 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for an AABB collider.
- * \file OPC_AABBCollider.h
- * \author Pierre Terdiman
- * \date January, 1st, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_AABBCOLLIDER_H__
-#define __OPC_AABBCOLLIDER_H__
-
- struct OPCODE_API AABBCache : VolumeCache
- {
- AABBCache() : FatCoeff(1.1f)
- {
- FatBox.mCenter.Zero();
- FatBox.mExtents.Zero();
- }
-
- // Cached faces signature
- CollisionAABB FatBox; //!< Box used when performing the query resulting in cached faces
- // User settings
- float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere
- };
-
- class OPCODE_API AABBCollider : public VolumeCollider
- {
- public:
- // Constructor / Destructor
- AABBCollider();
- virtual ~AABBCollider();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Generic collision query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - with GetNbTouchedPrimitives()
- * - with GetTouchedPrimitives()
- *
- * \param cache [in/out] a box cache
- * \param box [in] collision AABB in world space
- * \param model [in] Opcode model to collide with
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool Collide(AABBCache& cache, const CollisionAABB& box, const Model& model);
- //
- bool Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree);
- protected:
- CollisionAABB mBox; //!< Query box in (center, extents) form
- IcePoint mMin; //!< Query box min IcePoint
- IcePoint mMax; //!< Query box max IcePoint
- // Leaf description
- IcePoint mLeafVerts[3]; //!< Triangle vertices
- // Internal methods
- void _Collide(const AABBCollisionNode* node);
- void _Collide(const AABBNoLeafNode* node);
- void _Collide(const AABBQuantizedNode* node);
- void _Collide(const AABBQuantizedNoLeafNode* node);
- void _Collide(const AABBTreeNode* node);
- void _CollideNoPrimitiveTest(const AABBCollisionNode* node);
- void _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
- void _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
- void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
- // Overlap tests
- inline_ BOOL AABBContainsBox(const IcePoint& bc, const IcePoint& be);
- inline_ BOOL AABBAABBOverlap(const IcePoint& b, const IcePoint& Pb);
- inline_ BOOL TriBoxOverlap();
- // Init methods
- BOOL InitQuery(AABBCache& cache, const CollisionAABB& box);
- };
-
- class OPCODE_API HybridAABBCollider : public AABBCollider
- {
- public:
- // Constructor / Destructor
- HybridAABBCollider();
- virtual ~HybridAABBCollider();
-
- bool Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model);
- protected:
- Container mTouchedBoxes;
- };
-
-#endif // __OPC_AABBCOLLIDER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for an AABB collider. + * \file OPC_AABBCollider.h + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_AABBCOLLIDER_H__ +#define __OPC_AABBCOLLIDER_H__ + + struct OPCODE_API AABBCache : VolumeCache + { + AABBCache() : FatCoeff(1.1f) + { + FatBox.mCenter.Zero(); + FatBox.mExtents.Zero(); + } + + // Cached faces signature + CollisionAABB FatBox; //!< Box used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere + }; + + class OPCODE_API AABBCollider : public VolumeCollider + { + public: + // Constructor / Destructor + AABBCollider(); + virtual ~AABBCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a box cache + * \param box [in] collision AABB in world space + * \param model [in] Opcode model to collide with + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool Collide(AABBCache& cache, const CollisionAABB& box, const Model& model); + // + bool Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree); + protected: + CollisionAABB mBox; //!< Query box in (center, extents) form + IcePoint mMin; //!< Query box min IcePoint + IcePoint mMax; //!< Query box max IcePoint + // Leaf description + IcePoint mLeafVerts[3]; //!< Triangle vertices + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* node); + void _Collide(const AABBTreeNode* node); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); + // Overlap tests + inline_ BOOL AABBContainsBox(const IcePoint& bc, const IcePoint& be); + inline_ BOOL AABBAABBOverlap(const IcePoint& b, const IcePoint& Pb); + inline_ BOOL TriBoxOverlap(); + // Init methods + BOOL InitQuery(AABBCache& cache, const CollisionAABB& box); + }; + + class OPCODE_API HybridAABBCollider : public AABBCollider + { + public: + // Constructor / Destructor + HybridAABBCollider(); + virtual ~HybridAABBCollider(); + + bool Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_AABBCOLLIDER_H__ diff --git a/Opcode/OPC_AABBTree.cpp b/Opcode/OPC_AABBTree.cpp index 166cb0f..bc1a4e0 100644 --- a/Opcode/OPC_AABBTree.cpp +++ b/Opcode/OPC_AABBTree.cpp @@ -1,573 +1,573 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for a versatile AABB tree.
- * \file OPC_AABBTree.cpp
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a generic AABB tree node.
- *
- * \class AABBTreeNode
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a generic AABB tree.
- * This is a vanilla AABB tree, without any particular optimization. It contains anonymous references to
- * user-provided primitives, which can theoretically be anything - triangles, boxes, etc. Each primitive
- * is surrounded by an AABB, regardless of the primitive's nature. When the primitive is a triangle, the
- * resulting tree can be converted into an optimized tree. If the primitive is a box, the resulting tree
- * can be used for culling - VFC or occlusion -, assuming you cull on a mesh-by-mesh basis (modern way).
- *
- * \class AABBTree
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBTreeNode::AABBTreeNode() :
- mPos (null),
-#ifndef OPC_NO_NEG_VANILLA_TREE
- mNeg (null),
-#endif
- mNbPrimitives (0),
- mNodePrimitives (null)
-{
-#ifdef OPC_USE_TREE_COHERENCE
- mBitmask = 0;
-#endif
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBTreeNode::~AABBTreeNode()
-{
- // Opcode 1.3:
- const AABBTreeNode* Pos = GetPos();
- const AABBTreeNode* Neg = GetNeg();
-#ifndef OPC_NO_NEG_VANILLA_TREE
- if(!(mPos&1)) DELETESINGLE(Pos);
- if(!(mNeg&1)) DELETESINGLE(Neg);
-#else
- if(!(mPos&1)) DELETEARRAY(Pos);
-#endif
- mNodePrimitives = null; // This was just a shortcut to the global list => no release
- mNbPrimitives = 0;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Splits the node along a given axis.
- * The list of indices is reorganized according to the split values.
- * \param axis [in] splitting axis index
- * \param builder [in] the tree builder
- * \return the number of primitives assigned to the first child
- * \warning this method reorganizes the internal list of primitives
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword AABBTreeNode::Split(udword axis, AABBTreeBuilder* builder)
-{
- // Get node split value
- float SplitValue = builder->GetSplittingValue(mNodePrimitives, mNbPrimitives, mBV, axis);
-
- udword NbPos = 0;
- // Loop through all node-related primitives. Their indices range from mNodePrimitives[0] to mNodePrimitives[mNbPrimitives-1].
- // Those indices map the global list in the tree builder.
- for(udword i=0;i<mNbPrimitives;i++)
- {
- // Get index in global list
- udword Index = mNodePrimitives[i];
-
- // Test against the splitting value. The primitive value is tested against the enclosing-box center.
- // [We only need an approximate partition of the enclosing box here.]
- float PrimitiveValue = builder->GetSplittingValue(Index, axis);
-
- // Reorganize the list of indices in this order: positive - negative.
- if(PrimitiveValue > SplitValue)
- {
- // Swap entries
- udword Tmp = mNodePrimitives[i];
- mNodePrimitives[i] = mNodePrimitives[NbPos];
- mNodePrimitives[NbPos] = Tmp;
- // Count primitives assigned to positive space
- NbPos++;
- }
- }
- return NbPos;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Subdivides the node.
- *
- * N
- * / \
- * / \
- * N/2 N/2
- * / \ / \
- * N/4 N/4 N/4 N/4
- * (etc)
- *
- * A well-balanced tree should have a O(log n) depth.
- * A degenerate tree would have a O(n) depth.
- * Note a perfectly-balanced tree is not well-suited to collision detection anyway.
- *
- * \param builder [in] the tree builder
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeNode::Subdivide(AABBTreeBuilder* builder)
-{
- // Checkings
- if(!builder) return false;
-
- // Stop subdividing if we reach a leaf node. This is always performed here,
- // else we could end in trouble if user overrides this.
- if(mNbPrimitives==1) return true;
-
- // Let the user validate the subdivision
- if(!builder->ValidateSubdivision(mNodePrimitives, mNbPrimitives, mBV)) return true;
-
- bool ValidSplit = true; // Optimism...
- udword NbPos;
- if(builder->mSettings.mRules & SPLIT_LARGEST_AXIS)
- {
- // Find the largest axis to split along
- IcePoint Extents; mBV.GetExtents(Extents); // Box extents
- udword Axis = Extents.LargestAxis(); // Index of largest axis
-
- // Split along the axis
- NbPos = Split(Axis, builder);
-
- // Check split validity
- if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false;
- }
- else if(builder->mSettings.mRules & SPLIT_SPLATTER_POINTS)
- {
- // Compute the means
- IcePoint Means(0.0f, 0.0f, 0.0f);
- for(udword i=0;i<mNbPrimitives;i++)
- {
- udword Index = mNodePrimitives[i];
- Means.x+=builder->GetSplittingValue(Index, 0);
- Means.y+=builder->GetSplittingValue(Index, 1);
- Means.z+=builder->GetSplittingValue(Index, 2);
- }
- Means/=float(mNbPrimitives);
-
- // Compute variances
- IcePoint Vars(0.0f, 0.0f, 0.0f);
- for(udword i=0;i<mNbPrimitives;i++)
- {
- udword Index = mNodePrimitives[i];
- float Cx = builder->GetSplittingValue(Index, 0);
- float Cy = builder->GetSplittingValue(Index, 1);
- float Cz = builder->GetSplittingValue(Index, 2);
- Vars.x += (Cx - Means.x)*(Cx - Means.x);
- Vars.y += (Cy - Means.y)*(Cy - Means.y);
- Vars.z += (Cz - Means.z)*(Cz - Means.z);
- }
- Vars/=float(mNbPrimitives-1);
-
- // Choose axis with greatest variance
- udword Axis = Vars.LargestAxis();
-
- // Split along the axis
- NbPos = Split(Axis, builder);
-
- // Check split validity
- if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false;
- }
- else if(builder->mSettings.mRules & SPLIT_BALANCED)
- {
- // Test 3 axis, take the best
- float Results[3];
- NbPos = Split(0, builder); Results[0] = float(NbPos)/float(mNbPrimitives);
- NbPos = Split(1, builder); Results[1] = float(NbPos)/float(mNbPrimitives);
- NbPos = Split(2, builder); Results[2] = float(NbPos)/float(mNbPrimitives);
- Results[0]-=0.5f; Results[0]*=Results[0];
- Results[1]-=0.5f; Results[1]*=Results[1];
- Results[2]-=0.5f; Results[2]*=Results[2];
- udword Min=0;
- if(Results[1]<Results[Min]) Min = 1;
- if(Results[2]<Results[Min]) Min = 2;
-
- // Split along the axis
- NbPos = Split(Min, builder);
-
- // Check split validity
- if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false;
- }
- else if(builder->mSettings.mRules & SPLIT_BEST_AXIS)
- {
- // Test largest, then middle, then smallest axis...
-
- // Sort axis
- IcePoint Extents; mBV.GetExtents(Extents); // Box extents
- udword SortedAxis[] = { 0, 1, 2 };
- float* Keys = (float*)&Extents.x;
- for(udword j=0;j<3;j++)
- {
- for(udword i=0;i<2;i++)
- {
- if(Keys[SortedAxis[i]]<Keys[SortedAxis[i+1]])
- {
- udword Tmp = SortedAxis[i];
- SortedAxis[i] = SortedAxis[i+1];
- SortedAxis[i+1] = Tmp;
- }
- }
- }
-
- // Find the largest axis to split along
- udword CurAxis = 0;
- ValidSplit = false;
- while(!ValidSplit && CurAxis!=3)
- {
- NbPos = Split(SortedAxis[CurAxis], builder);
- // Check the subdivision has been successful
- if(!NbPos || NbPos==mNbPrimitives) CurAxis++;
- else ValidSplit = true;
- }
- }
- else if(builder->mSettings.mRules & SPLIT_FIFTY)
- {
- // Don't even bother splitting (mainly a performance test)
- NbPos = mNbPrimitives>>1;
- }
- else return false; // Unknown splitting rules
-
- // Check the subdivision has been successful
- if(!ValidSplit)
- {
- // Here, all boxes lie in the same sub-space. Two strategies:
- // - if the tree *must* be complete, make an arbitrary 50-50 split
- // - else stop subdividing
-// if(builder->mSettings.mRules&SPLIT_COMPLETE)
- if(builder->mSettings.mLimit==1)
- {
- builder->IncreaseNbInvalidSplits();
- NbPos = mNbPrimitives>>1;
- }
- else return true;
- }
-
- // Now create children and assign their pointers.
- if(builder->mNodeBase)
- {
- // We use a pre-allocated linear pool for complete trees [Opcode 1.3]
- AABBTreeNode* Pool = (AABBTreeNode*)builder->mNodeBase;
- udword Count = builder->GetCount() - 1; // Count begins to 1...
- // Set last bit to tell it shouldn't be freed ### pretty ugly, find a better way. Maybe one bit in mNbPrimitives
- ASSERT(!(udword(&Pool[Count+0])&1));
- ASSERT(!(udword(&Pool[Count+1])&1));
- mPos = udword(&Pool[Count+0])|1;
-#ifndef OPC_NO_NEG_VANILLA_TREE
- mNeg = udword(&Pool[Count+1])|1;
-#endif
- }
- else
- {
- // Non-complete trees and/or Opcode 1.2 allocate nodes on-the-fly
-#ifndef OPC_NO_NEG_VANILLA_TREE
- mPos = (udword)new AABBTreeNode; CHECKALLOC(mPos);
- mNeg = (udword)new AABBTreeNode; CHECKALLOC(mNeg);
-#else
- AABBTreeNode* PosNeg = new AABBTreeNode[2];
- CHECKALLOC(PosNeg);
- mPos = (udword)PosNeg;
-#endif
- }
-
- // Update stats
- builder->IncreaseCount(2);
-
- // Assign children
- AABBTreeNode* Pos = (AABBTreeNode*)GetPos();
- AABBTreeNode* Neg = (AABBTreeNode*)GetNeg();
- Pos->mNodePrimitives = &mNodePrimitives[0];
- Pos->mNbPrimitives = NbPos;
- Neg->mNodePrimitives = &mNodePrimitives[NbPos];
- Neg->mNbPrimitives = mNbPrimitives - NbPos;
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive hierarchy building in a top-down fashion.
- * \param builder [in] the tree builder
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeNode::_BuildHierarchy(AABBTreeBuilder* builder)
-{
- // 1) Compute the global box for current node. The box is stored in mBV.
- builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV);
-
- // 2) Subdivide current node
- Subdivide(builder);
-
- // 3) Recurse
- AABBTreeNode* Pos = (AABBTreeNode*)GetPos();
- AABBTreeNode* Neg = (AABBTreeNode*)GetNeg();
- if(Pos) Pos->_BuildHierarchy(builder);
- if(Neg) Neg->_BuildHierarchy(builder);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the tree (top-down).
- * \param builder [in] the tree builder
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeNode::_Refit(AABBTreeBuilder* builder)
-{
- // 1) Recompute the new global box for current node
- builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV);
-
- // 2) Recurse
- AABBTreeNode* Pos = (AABBTreeNode*)GetPos();
- AABBTreeNode* Neg = (AABBTreeNode*)GetNeg();
- if(Pos) Pos->_Refit(builder);
- if(Neg) Neg->_Refit(builder);
-}
-
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBTree::AABBTree() : mIndices(null), mTotalNbNodes(0), mPool(null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBTree::~AABBTree()
-{
- Release();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Releases the tree.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTree::Release()
-{
- DELETEARRAY(mPool);
- DELETEARRAY(mIndices);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds a generic AABB tree from a tree builder.
- * \param builder [in] the tree builder
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTree::Build(AABBTreeBuilder* builder)
-{
- // Checkings
- if(!builder || !builder->mNbPrimitives) return false;
-
- // Release previous tree
- Release();
-
- // Init stats
- builder->SetCount(1);
- builder->SetNbInvalidSplits(0);
-
- // Initialize indices. This list will be modified during build.
- mIndices = new udword[builder->mNbPrimitives];
- CHECKALLOC(mIndices);
- // Identity permutation
- for(udword i=0;i<builder->mNbPrimitives;i++) mIndices[i] = i;
-
- // Setup initial node. Here we have a complete permutation of the app's primitives.
- mNodePrimitives = mIndices;
- mNbPrimitives = builder->mNbPrimitives;
-
- // Use a linear array for complete trees (since we can predict the final number of nodes) [Opcode 1.3]
-// if(builder->mRules&SPLIT_COMPLETE)
- if(builder->mSettings.mLimit==1)
- {
- // Allocate a pool of nodes
- mPool = new AABBTreeNode[builder->mNbPrimitives*2 - 1];
-
- builder->mNodeBase = mPool; // ### ugly !
- }
-
- // Build the hierarchy
- _BuildHierarchy(builder);
-
- // Get back total number of nodes
- mTotalNbNodes = builder->GetCount();
-
- // For complete trees, check the correct number of nodes has been created [Opcode 1.3]
- if(mPool) ASSERT(mTotalNbNodes==builder->mNbPrimitives*2 - 1);
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the depth of the tree.
- * A well-balanced tree should have a log(n) depth. A degenerate tree O(n) depth.
- * \return depth of the tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword AABBTree::ComputeDepth() const
-{
- return Walk(null, null); // Use the walking code without callback
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Walks the tree, calling the user back for each node.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword AABBTree::Walk(WalkingCallback callback, void* user_data) const
-{
- // Call it without callback to compute max depth
- udword MaxDepth = 0;
- udword CurrentDepth = 0;
-
- struct Local
- {
- static void _Walk(const AABBTreeNode* current_node, udword& max_depth, udword& current_depth, WalkingCallback callback, void* user_data)
- {
- // Checkings
- if(!current_node) return;
- // Entering a new node => increase depth
- current_depth++;
- // Keep track of max depth
- if(current_depth>max_depth) max_depth = current_depth;
-
- // Callback
- if(callback && !(callback)(current_node, current_depth, user_data)) return;
-
- // Recurse
- if(current_node->GetPos()) { _Walk(current_node->GetPos(), max_depth, current_depth, callback, user_data); current_depth--; }
- if(current_node->GetNeg()) { _Walk(current_node->GetNeg(), max_depth, current_depth, callback, user_data); current_depth--; }
- }
- };
- Local::_Walk(this, MaxDepth, CurrentDepth, callback, user_data);
- return MaxDepth;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the tree in a top-down way.
- * \param builder [in] the tree builder
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTree::Refit(AABBTreeBuilder* builder)
-{
- if(!builder) return false;
- _Refit(builder);
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the tree in a bottom-up way.
- * \param builder [in] the tree builder
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTree::Refit2(AABBTreeBuilder* builder)
-{
- // Checkings
- if(!builder) return false;
-
- ASSERT(mPool);
-
- // Bottom-up update
- IcePoint Min,Max;
- IcePoint Min_,Max_;
- udword Index = mTotalNbNodes;
- while(Index--)
- {
- AABBTreeNode& Current = mPool[Index];
-
- if(Current.IsLeaf())
- {
- builder->ComputeGlobalBox(Current.GetPrimitives(), Current.GetNbPrimitives(), *(AABB*)Current.GetAABB());
- }
- else
- {
- Current.GetPos()->GetAABB()->GetMin(Min);
- Current.GetPos()->GetAABB()->GetMax(Max);
-
- Current.GetNeg()->GetAABB()->GetMin(Min_);
- Current.GetNeg()->GetAABB()->GetMax(Max_);
-
- Min.Min(Min_);
- Max.Max(Max_);
-
- ((AABB*)Current.GetAABB())->SetMinMax(Min, Max);
- }
- }
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the number of bytes used by the tree.
- * \return number of bytes used
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword AABBTree::GetUsedBytes() const
-{
- udword TotalSize = mTotalNbNodes*GetNodeSize();
- if(mIndices) TotalSize+=mNbPrimitives*sizeof(udword);
- return TotalSize;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks the tree is a complete tree or not.
- * A complete tree is made of 2*N-1 nodes, where N is the number of primitives in the tree.
- * \return true for complete trees
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTree::IsComplete() const
-{
- return (GetNbNodes()==GetNbPrimitives()*2-1);
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a versatile AABB tree. + * \file OPC_AABBTree.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a generic AABB tree node. + * + * \class AABBTreeNode + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a generic AABB tree. + * This is a vanilla AABB tree, without any particular optimization. It contains anonymous references to + * user-provided primitives, which can theoretically be anything - triangles, boxes, etc. Each primitive + * is surrounded by an AABB, regardless of the primitive's nature. When the primitive is a triangle, the + * resulting tree can be converted into an optimized tree. If the primitive is a box, the resulting tree + * can be used for culling - VFC or occlusion -, assuming you cull on a mesh-by-mesh basis (modern way). + * + * \class AABBTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeNode::AABBTreeNode() : + mPos (null), +#ifndef OPC_NO_NEG_VANILLA_TREE + mNeg (null), +#endif + mNbPrimitives (0), + mNodePrimitives (null) +{ +#ifdef OPC_USE_TREE_COHERENCE + mBitmask = 0; +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeNode::~AABBTreeNode() +{ + // Opcode 1.3: + const AABBTreeNode* Pos = GetPos(); + const AABBTreeNode* Neg = GetNeg(); +#ifndef OPC_NO_NEG_VANILLA_TREE + if(!(mPos&1)) DELETESINGLE(Pos); + if(!(mNeg&1)) DELETESINGLE(Neg); +#else + if(!(mPos&1)) DELETEARRAY(Pos); +#endif + mNodePrimitives = null; // This was just a shortcut to the global list => no release + mNbPrimitives = 0; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Splits the node along a given axis. + * The list of indices is reorganized according to the split values. + * \param axis [in] splitting axis index + * \param builder [in] the tree builder + * \return the number of primitives assigned to the first child + * \warning this method reorganizes the internal list of primitives + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTreeNode::Split(udword axis, AABBTreeBuilder* builder) +{ + // Get node split value + float SplitValue = builder->GetSplittingValue(mNodePrimitives, mNbPrimitives, mBV, axis); + + udword NbPos = 0; + // Loop through all node-related primitives. Their indices range from mNodePrimitives[0] to mNodePrimitives[mNbPrimitives-1]. + // Those indices map the global list in the tree builder. + for(udword i=0;i<mNbPrimitives;i++) + { + // Get index in global list + udword Index = mNodePrimitives[i]; + + // Test against the splitting value. The primitive value is tested against the enclosing-box center. + // [We only need an approximate partition of the enclosing box here.] + float PrimitiveValue = builder->GetSplittingValue(Index, axis); + + // Reorganize the list of indices in this order: positive - negative. + if(PrimitiveValue > SplitValue) + { + // Swap entries + udword Tmp = mNodePrimitives[i]; + mNodePrimitives[i] = mNodePrimitives[NbPos]; + mNodePrimitives[NbPos] = Tmp; + // Count primitives assigned to positive space + NbPos++; + } + } + return NbPos; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Subdivides the node. + * + * N + * / \ + * / \ + * N/2 N/2 + * / \ / \ + * N/4 N/4 N/4 N/4 + * (etc) + * + * A well-balanced tree should have a O(log n) depth. + * A degenerate tree would have a O(n) depth. + * Note a perfectly-balanced tree is not well-suited to collision detection anyway. + * + * \param builder [in] the tree builder + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeNode::Subdivide(AABBTreeBuilder* builder) +{ + // Checkings + if(!builder) return false; + + // Stop subdividing if we reach a leaf node. This is always performed here, + // else we could end in trouble if user overrides this. + if(mNbPrimitives==1) return true; + + // Let the user validate the subdivision + if(!builder->ValidateSubdivision(mNodePrimitives, mNbPrimitives, mBV)) return true; + + bool ValidSplit = true; // Optimism... + udword NbPos; + if(builder->mSettings.mRules & SPLIT_LARGEST_AXIS) + { + // Find the largest axis to split along + IcePoint Extents; mBV.GetExtents(Extents); // Box extents + udword Axis = Extents.LargestAxis(); // Index of largest axis + + // Split along the axis + NbPos = Split(Axis, builder); + + // Check split validity + if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; + } + else if(builder->mSettings.mRules & SPLIT_SPLATTER_POINTS) + { + // Compute the means + IcePoint Means(0.0f, 0.0f, 0.0f); + for(udword i=0;i<mNbPrimitives;i++) + { + udword Index = mNodePrimitives[i]; + Means.x+=builder->GetSplittingValue(Index, 0); + Means.y+=builder->GetSplittingValue(Index, 1); + Means.z+=builder->GetSplittingValue(Index, 2); + } + Means/=float(mNbPrimitives); + + // Compute variances + IcePoint Vars(0.0f, 0.0f, 0.0f); + for(udword i=0;i<mNbPrimitives;i++) + { + udword Index = mNodePrimitives[i]; + float Cx = builder->GetSplittingValue(Index, 0); + float Cy = builder->GetSplittingValue(Index, 1); + float Cz = builder->GetSplittingValue(Index, 2); + Vars.x += (Cx - Means.x)*(Cx - Means.x); + Vars.y += (Cy - Means.y)*(Cy - Means.y); + Vars.z += (Cz - Means.z)*(Cz - Means.z); + } + Vars/=float(mNbPrimitives-1); + + // Choose axis with greatest variance + udword Axis = Vars.LargestAxis(); + + // Split along the axis + NbPos = Split(Axis, builder); + + // Check split validity + if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; + } + else if(builder->mSettings.mRules & SPLIT_BALANCED) + { + // Test 3 axis, take the best + float Results[3]; + NbPos = Split(0, builder); Results[0] = float(NbPos)/float(mNbPrimitives); + NbPos = Split(1, builder); Results[1] = float(NbPos)/float(mNbPrimitives); + NbPos = Split(2, builder); Results[2] = float(NbPos)/float(mNbPrimitives); + Results[0]-=0.5f; Results[0]*=Results[0]; + Results[1]-=0.5f; Results[1]*=Results[1]; + Results[2]-=0.5f; Results[2]*=Results[2]; + udword Min=0; + if(Results[1]<Results[Min]) Min = 1; + if(Results[2]<Results[Min]) Min = 2; + + // Split along the axis + NbPos = Split(Min, builder); + + // Check split validity + if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; + } + else if(builder->mSettings.mRules & SPLIT_BEST_AXIS) + { + // Test largest, then middle, then smallest axis... + + // Sort axis + IcePoint Extents; mBV.GetExtents(Extents); // Box extents + udword SortedAxis[] = { 0, 1, 2 }; + float* Keys = (float*)&Extents.x; + for(udword j=0;j<3;j++) + { + for(udword i=0;i<2;i++) + { + if(Keys[SortedAxis[i]]<Keys[SortedAxis[i+1]]) + { + udword Tmp = SortedAxis[i]; + SortedAxis[i] = SortedAxis[i+1]; + SortedAxis[i+1] = Tmp; + } + } + } + + // Find the largest axis to split along + udword CurAxis = 0; + ValidSplit = false; + while(!ValidSplit && CurAxis!=3) + { + NbPos = Split(SortedAxis[CurAxis], builder); + // Check the subdivision has been successful + if(!NbPos || NbPos==mNbPrimitives) CurAxis++; + else ValidSplit = true; + } + } + else if(builder->mSettings.mRules & SPLIT_FIFTY) + { + // Don't even bother splitting (mainly a performance test) + NbPos = mNbPrimitives>>1; + } + else return false; // Unknown splitting rules + + // Check the subdivision has been successful + if(!ValidSplit) + { + // Here, all boxes lie in the same sub-space. Two strategies: + // - if the tree *must* be complete, make an arbitrary 50-50 split + // - else stop subdividing +// if(builder->mSettings.mRules&SPLIT_COMPLETE) + if(builder->mSettings.mLimit==1) + { + builder->IncreaseNbInvalidSplits(); + NbPos = mNbPrimitives>>1; + } + else return true; + } + + // Now create children and assign their pointers. + if(builder->mNodeBase) + { + // We use a pre-allocated linear pool for complete trees [Opcode 1.3] + AABBTreeNode* Pool = (AABBTreeNode*)builder->mNodeBase; + udword Count = builder->GetCount() - 1; // Count begins to 1... + // Set last bit to tell it shouldn't be freed ### pretty ugly, find a better way. Maybe one bit in mNbPrimitives + ASSERT(!(udword(&Pool[Count+0])&1)); + ASSERT(!(udword(&Pool[Count+1])&1)); + mPos = udword(&Pool[Count+0])|1; +#ifndef OPC_NO_NEG_VANILLA_TREE + mNeg = udword(&Pool[Count+1])|1; +#endif + } + else + { + // Non-complete trees and/or Opcode 1.2 allocate nodes on-the-fly +#ifndef OPC_NO_NEG_VANILLA_TREE + mPos = (udword)new AABBTreeNode; CHECKALLOC(mPos); + mNeg = (udword)new AABBTreeNode; CHECKALLOC(mNeg); +#else + AABBTreeNode* PosNeg = new AABBTreeNode[2]; + CHECKALLOC(PosNeg); + mPos = (udword)PosNeg; +#endif + } + + // Update stats + builder->IncreaseCount(2); + + // Assign children + AABBTreeNode* Pos = (AABBTreeNode*)GetPos(); + AABBTreeNode* Neg = (AABBTreeNode*)GetNeg(); + Pos->mNodePrimitives = &mNodePrimitives[0]; + Pos->mNbPrimitives = NbPos; + Neg->mNodePrimitives = &mNodePrimitives[NbPos]; + Neg->mNbPrimitives = mNbPrimitives - NbPos; + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive hierarchy building in a top-down fashion. + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeNode::_BuildHierarchy(AABBTreeBuilder* builder) +{ + // 1) Compute the global box for current node. The box is stored in mBV. + builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); + + // 2) Subdivide current node + Subdivide(builder); + + // 3) Recurse + AABBTreeNode* Pos = (AABBTreeNode*)GetPos(); + AABBTreeNode* Neg = (AABBTreeNode*)GetNeg(); + if(Pos) Pos->_BuildHierarchy(builder); + if(Neg) Neg->_BuildHierarchy(builder); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the tree (top-down). + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeNode::_Refit(AABBTreeBuilder* builder) +{ + // 1) Recompute the new global box for current node + builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); + + // 2) Recurse + AABBTreeNode* Pos = (AABBTreeNode*)GetPos(); + AABBTreeNode* Neg = (AABBTreeNode*)GetNeg(); + if(Pos) Pos->_Refit(builder); + if(Neg) Neg->_Refit(builder); +} + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTree::AABBTree() : mIndices(null), mTotalNbNodes(0), mPool(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTree::~AABBTree() +{ + Release(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Releases the tree. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTree::Release() +{ + DELETEARRAY(mPool); + DELETEARRAY(mIndices); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds a generic AABB tree from a tree builder. + * \param builder [in] the tree builder + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::Build(AABBTreeBuilder* builder) +{ + // Checkings + if(!builder || !builder->mNbPrimitives) return false; + + // Release previous tree + Release(); + + // Init stats + builder->SetCount(1); + builder->SetNbInvalidSplits(0); + + // Initialize indices. This list will be modified during build. + mIndices = new udword[builder->mNbPrimitives]; + CHECKALLOC(mIndices); + // Identity permutation + for(udword i=0;i<builder->mNbPrimitives;i++) mIndices[i] = i; + + // Setup initial node. Here we have a complete permutation of the app's primitives. + mNodePrimitives = mIndices; + mNbPrimitives = builder->mNbPrimitives; + + // Use a linear array for complete trees (since we can predict the final number of nodes) [Opcode 1.3] +// if(builder->mRules&SPLIT_COMPLETE) + if(builder->mSettings.mLimit==1) + { + // Allocate a pool of nodes + mPool = new AABBTreeNode[builder->mNbPrimitives*2 - 1]; + + builder->mNodeBase = mPool; // ### ugly ! + } + + // Build the hierarchy + _BuildHierarchy(builder); + + // Get back total number of nodes + mTotalNbNodes = builder->GetCount(); + + // For complete trees, check the correct number of nodes has been created [Opcode 1.3] + if(mPool) ASSERT(mTotalNbNodes==builder->mNbPrimitives*2 - 1); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the depth of the tree. + * A well-balanced tree should have a log(n) depth. A degenerate tree O(n) depth. + * \return depth of the tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTree::ComputeDepth() const +{ + return Walk(null, null); // Use the walking code without callback +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree, calling the user back for each node. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTree::Walk(WalkingCallback callback, void* user_data) const +{ + // Call it without callback to compute max depth + udword MaxDepth = 0; + udword CurrentDepth = 0; + + struct Local + { + static void _Walk(const AABBTreeNode* current_node, udword& max_depth, udword& current_depth, WalkingCallback callback, void* user_data) + { + // Checkings + if(!current_node) return; + // Entering a new node => increase depth + current_depth++; + // Keep track of max depth + if(current_depth>max_depth) max_depth = current_depth; + + // Callback + if(callback && !(callback)(current_node, current_depth, user_data)) return; + + // Recurse + if(current_node->GetPos()) { _Walk(current_node->GetPos(), max_depth, current_depth, callback, user_data); current_depth--; } + if(current_node->GetNeg()) { _Walk(current_node->GetNeg(), max_depth, current_depth, callback, user_data); current_depth--; } + } + }; + Local::_Walk(this, MaxDepth, CurrentDepth, callback, user_data); + return MaxDepth; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the tree in a top-down way. + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::Refit(AABBTreeBuilder* builder) +{ + if(!builder) return false; + _Refit(builder); + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the tree in a bottom-up way. + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::Refit2(AABBTreeBuilder* builder) +{ + // Checkings + if(!builder) return false; + + ASSERT(mPool); + + // Bottom-up update + IcePoint Min,Max; + IcePoint Min_,Max_; + udword Index = mTotalNbNodes; + while(Index--) + { + AABBTreeNode& Current = mPool[Index]; + + if(Current.IsLeaf()) + { + builder->ComputeGlobalBox(Current.GetPrimitives(), Current.GetNbPrimitives(), *(AABB*)Current.GetAABB()); + } + else + { + Current.GetPos()->GetAABB()->GetMin(Min); + Current.GetPos()->GetAABB()->GetMax(Max); + + Current.GetNeg()->GetAABB()->GetMin(Min_); + Current.GetNeg()->GetAABB()->GetMax(Max_); + + Min.Min(Min_); + Max.Max(Max_); + + ((AABB*)Current.GetAABB())->SetMinMax(Min, Max); + } + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the number of bytes used by the tree. + * \return number of bytes used + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTree::GetUsedBytes() const +{ + udword TotalSize = mTotalNbNodes*GetNodeSize(); + if(mIndices) TotalSize+=mNbPrimitives*sizeof(udword); + return TotalSize; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the tree is a complete tree or not. + * A complete tree is made of 2*N-1 nodes, where N is the number of primitives in the tree. + * \return true for complete trees + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::IsComplete() const +{ + return (GetNbNodes()==GetNbPrimitives()*2-1); +} diff --git a/Opcode/OPC_AABBTree.h b/Opcode/OPC_AABBTree.h index 377fbcb..298f482 100644 --- a/Opcode/OPC_AABBTree.h +++ b/Opcode/OPC_AABBTree.h @@ -1,137 +1,137 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for a versatile AABB tree.
- * \file OPC_AABBTree.h
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_AABBTREE_H__
-#define __OPC_AABBTREE_H__
-
-#ifdef OPC_NO_NEG_VANILLA_TREE
- //! TO BE DOCUMENTED
- #define IMPLEMENT_TREE(base_class, volume) \
- public: \
- /* Constructor / Destructor */ \
- base_class(); \
- ~base_class(); \
- /* Data access */ \
- inline_ const volume* Get##volume() const { return &mBV; } \
- /* Clear the last bit */ \
- inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \
- inline_ const base_class* GetNeg() const { const base_class* P = GetPos(); return P ? P+1 : null;} \
- \
- /* We don't need to test both nodes since we can't have one without the other */ \
- inline_ bool IsLeaf() const { return !GetPos(); } \
- \
- /* Stats */ \
- inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
- protected: \
- /* Tree-independent data */ \
- /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \
- /* Whatever happens we need the two children and the enclosing volume.*/ \
- volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \
- udword mPos; /* "Positive" & "Negative" children */
-#else
- //! TO BE DOCUMENTED
- #define IMPLEMENT_TREE(base_class, volume) \
- public: \
- /* Constructor / Destructor */ \
- base_class(); \
- ~base_class(); \
- /* Data access */ \
- inline_ const volume* Get##volume() const { return &mBV; } \
- /* Clear the last bit */ \
- inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \
- inline_ const base_class* GetNeg() const { return (const base_class*)(mNeg&~1); } \
- \
-/* inline_ bool IsLeaf() const { return (!GetPos() && !GetNeg()); } */ \
- /* We don't need to test both nodes since we can't have one without the other */ \
- inline_ bool IsLeaf() const { return !GetPos(); } \
- \
- /* Stats */ \
- inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
- protected: \
- /* Tree-independent data */ \
- /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \
- /* Whatever happens we need the two children and the enclosing volume.*/ \
- volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \
- udword mPos; /* "Positive" child */ \
- udword mNeg; /* "Negative" child */
-#endif
-
- typedef void (*CullingCallback) (udword nb_primitives, udword* node_primitives, BOOL need_clipping, void* user_data);
-
- class OPCODE_API AABBTreeNode
- {
- IMPLEMENT_TREE(AABBTreeNode, AABB)
- public:
- // Data access
- inline_ const udword* GetPrimitives() const { return mNodePrimitives; }
- inline_ udword GetNbPrimitives() const { return mNbPrimitives; }
-
- protected:
- // Tree-dependent data
- udword* mNodePrimitives; //!< Node-related primitives (shortcut to a position in mIndices below)
- udword mNbPrimitives; //!< Number of primitives for this node
- // Internal methods
- udword Split(udword axis, AABBTreeBuilder* builder);
- bool Subdivide(AABBTreeBuilder* builder);
- void _BuildHierarchy(AABBTreeBuilder* builder);
- void _Refit(AABBTreeBuilder* builder);
- };
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * User-callback, called for each node by the walking code.
- * \param current [in] current node
- * \param depth [in] current node's depth
- * \param user_data [in] user-defined data
- * \return true to recurse through children, else false to bypass them
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- typedef bool (*WalkingCallback) (const AABBTreeNode* current, udword depth, void* user_data);
-
- class OPCODE_API AABBTree : public AABBTreeNode
- {
- public:
- // Constructor / Destructor
- AABBTree();
- ~AABBTree();
- // Build
- bool Build(AABBTreeBuilder* builder);
- void Release();
-
- // Data access
- inline_ const udword* GetIndices() const { return mIndices; } //!< Catch the indices
- inline_ udword GetNbNodes() const { return mTotalNbNodes; } //!< Catch the number of nodes
-
- // Infos
- bool IsComplete() const;
- // Stats
- udword ComputeDepth() const;
- udword GetUsedBytes() const;
- udword Walk(WalkingCallback callback, void* user_data) const;
-
- bool Refit(AABBTreeBuilder* builder);
- bool Refit2(AABBTreeBuilder* builder);
- private:
- udword* mIndices; //!< Indices in the app list. Indices are reorganized during build (permutation).
- AABBTreeNode* mPool; //!< Linear pool of nodes for complete trees. Null otherwise. [Opcode 1.3]
- // Stats
- udword mTotalNbNodes; //!< Number of nodes in the tree.
- };
-
-#endif // __OPC_AABBTREE_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a versatile AABB tree. + * \file OPC_AABBTree.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_AABBTREE_H__ +#define __OPC_AABBTREE_H__ + +#ifdef OPC_NO_NEG_VANILLA_TREE + //! TO BE DOCUMENTED + #define IMPLEMENT_TREE(base_class, volume) \ + public: \ + /* Constructor / Destructor */ \ + base_class(); \ + ~base_class(); \ + /* Data access */ \ + inline_ const volume* Get##volume() const { return &mBV; } \ + /* Clear the last bit */ \ + inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \ + inline_ const base_class* GetNeg() const { const base_class* P = GetPos(); return P ? P+1 : null;} \ + \ + /* We don't need to test both nodes since we can't have one without the other */ \ + inline_ bool IsLeaf() const { return !GetPos(); } \ + \ + /* Stats */ \ + inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ + protected: \ + /* Tree-independent data */ \ + /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \ + /* Whatever happens we need the two children and the enclosing volume.*/ \ + volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \ + udword mPos; /* "Positive" & "Negative" children */ +#else + //! TO BE DOCUMENTED + #define IMPLEMENT_TREE(base_class, volume) \ + public: \ + /* Constructor / Destructor */ \ + base_class(); \ + ~base_class(); \ + /* Data access */ \ + inline_ const volume* Get##volume() const { return &mBV; } \ + /* Clear the last bit */ \ + inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \ + inline_ const base_class* GetNeg() const { return (const base_class*)(mNeg&~1); } \ + \ +/* inline_ bool IsLeaf() const { return (!GetPos() && !GetNeg()); } */ \ + /* We don't need to test both nodes since we can't have one without the other */ \ + inline_ bool IsLeaf() const { return !GetPos(); } \ + \ + /* Stats */ \ + inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ + protected: \ + /* Tree-independent data */ \ + /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \ + /* Whatever happens we need the two children and the enclosing volume.*/ \ + volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \ + udword mPos; /* "Positive" child */ \ + udword mNeg; /* "Negative" child */ +#endif + + typedef void (*CullingCallback) (udword nb_primitives, udword* node_primitives, BOOL need_clipping, void* user_data); + + class OPCODE_API AABBTreeNode + { + IMPLEMENT_TREE(AABBTreeNode, AABB) + public: + // Data access + inline_ const udword* GetPrimitives() const { return mNodePrimitives; } + inline_ udword GetNbPrimitives() const { return mNbPrimitives; } + + protected: + // Tree-dependent data + udword* mNodePrimitives; //!< Node-related primitives (shortcut to a position in mIndices below) + udword mNbPrimitives; //!< Number of primitives for this node + // Internal methods + udword Split(udword axis, AABBTreeBuilder* builder); + bool Subdivide(AABBTreeBuilder* builder); + void _BuildHierarchy(AABBTreeBuilder* builder); + void _Refit(AABBTreeBuilder* builder); + }; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * User-callback, called for each node by the walking code. + * \param current [in] current node + * \param depth [in] current node's depth + * \param user_data [in] user-defined data + * \return true to recurse through children, else false to bypass them + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + typedef bool (*WalkingCallback) (const AABBTreeNode* current, udword depth, void* user_data); + + class OPCODE_API AABBTree : public AABBTreeNode + { + public: + // Constructor / Destructor + AABBTree(); + ~AABBTree(); + // Build + bool Build(AABBTreeBuilder* builder); + void Release(); + + // Data access + inline_ const udword* GetIndices() const { return mIndices; } //!< Catch the indices + inline_ udword GetNbNodes() const { return mTotalNbNodes; } //!< Catch the number of nodes + + // Infos + bool IsComplete() const; + // Stats + udword ComputeDepth() const; + udword GetUsedBytes() const; + udword Walk(WalkingCallback callback, void* user_data) const; + + bool Refit(AABBTreeBuilder* builder); + bool Refit2(AABBTreeBuilder* builder); + private: + udword* mIndices; //!< Indices in the app list. Indices are reorganized during build (permutation). + AABBTreeNode* mPool; //!< Linear pool of nodes for complete trees. Null otherwise. [Opcode 1.3] + // Stats + udword mTotalNbNodes; //!< Number of nodes in the tree. + }; + +#endif // __OPC_AABBTREE_H__ diff --git a/Opcode/OPC_BaseModel.cpp b/Opcode/OPC_BaseModel.cpp index b37c079..88b6a69 100644 --- a/Opcode/OPC_BaseModel.cpp +++ b/Opcode/OPC_BaseModel.cpp @@ -1,138 +1,138 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains base model interface.
- * \file OPC_BaseModel.cpp
- * \author Pierre Terdiman
- * \date May, 18, 2003
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * The base class for collision models.
- *
- * \class BaseModel
- * \author Pierre Terdiman
- * \version 1.3
- * \date May, 18, 2003
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-OPCODECREATE::OPCODECREATE()
-{
- mIMesh = null;
- mSettings.mRules = SPLIT_SPLATTER_POINTS | SPLIT_GEOM_CENTER;
- mSettings.mLimit = 1; // Mandatory for complete trees
- mNoLeaf = true;
- mQuantized = true;
-#ifdef __MESHMERIZER_H__
- mCollisionHull = false;
-#endif // __MESHMERIZER_H__
- mKeepOriginal = false;
- mCanRemap = false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-BaseModel::BaseModel() : mIMesh(null), mModelCode(0), mSource(null), mTree(null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-BaseModel::~BaseModel()
-{
- ReleaseBase();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Releases everything.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void BaseModel::ReleaseBase()
-{
- DELETESINGLE(mSource);
- DELETESINGLE(mTree);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Creates an optimized tree according to user-settings, and setups mModelCode.
- * \param no_leaf [in] true for "no leaf" tree
- * \param quantized [in] true for quantized tree
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool BaseModel::CreateTree(bool no_leaf, bool quantized)
-{
- DELETESINGLE(mTree);
-
- // Setup model code
- if(no_leaf) mModelCode |= OPC_NO_LEAF;
- else mModelCode &= ~OPC_NO_LEAF;
-
- if(quantized) mModelCode |= OPC_QUANTIZED;
- else mModelCode &= ~OPC_QUANTIZED;
-
- // Create the correct class
- if(mModelCode & OPC_NO_LEAF)
- {
- if(mModelCode & OPC_QUANTIZED) mTree = new AABBQuantizedNoLeafTree;
- else mTree = new AABBNoLeafTree;
- }
- else
- {
- if(mModelCode & OPC_QUANTIZED) mTree = new AABBQuantizedTree;
- else mTree = new AABBCollisionTree;
- }
- CHECKALLOC(mTree);
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the collision model. This can be used to handle dynamic meshes. Usage is:
- * 1. modify your mesh vertices (keep the topology constant!)
- * 2. refit the tree (call this method)
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool BaseModel::Refit()
-{
- // Refit the optimized tree
- return mTree->Refit(mIMesh);
-
-// Old code kept for reference : refit the source tree then rebuild !
-// if(!mSource) return false;
-// // Ouch...
-// mSource->Refit(&mTB);
-// // Ouch...
-// return mTree->Build(mSource);
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base model interface. + * \file OPC_BaseModel.cpp + * \author Pierre Terdiman + * \date May, 18, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * The base class for collision models. + * + * \class BaseModel + * \author Pierre Terdiman + * \version 1.3 + * \date May, 18, 2003 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +OPCODECREATE::OPCODECREATE() +{ + mIMesh = null; + mSettings.mRules = SPLIT_SPLATTER_POINTS | SPLIT_GEOM_CENTER; + mSettings.mLimit = 1; // Mandatory for complete trees + mNoLeaf = true; + mQuantized = true; +#ifdef __MESHMERIZER_H__ + mCollisionHull = false; +#endif // __MESHMERIZER_H__ + mKeepOriginal = false; + mCanRemap = false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BaseModel::BaseModel() : mIMesh(null), mModelCode(0), mSource(null), mTree(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BaseModel::~BaseModel() +{ + ReleaseBase(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Releases everything. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void BaseModel::ReleaseBase() +{ + DELETESINGLE(mSource); + DELETESINGLE(mTree); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Creates an optimized tree according to user-settings, and setups mModelCode. + * \param no_leaf [in] true for "no leaf" tree + * \param quantized [in] true for quantized tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool BaseModel::CreateTree(bool no_leaf, bool quantized) +{ + DELETESINGLE(mTree); + + // Setup model code + if(no_leaf) mModelCode |= OPC_NO_LEAF; + else mModelCode &= ~OPC_NO_LEAF; + + if(quantized) mModelCode |= OPC_QUANTIZED; + else mModelCode &= ~OPC_QUANTIZED; + + // Create the correct class + if(mModelCode & OPC_NO_LEAF) + { + if(mModelCode & OPC_QUANTIZED) mTree = new AABBQuantizedNoLeafTree; + else mTree = new AABBNoLeafTree; + } + else + { + if(mModelCode & OPC_QUANTIZED) mTree = new AABBQuantizedTree; + else mTree = new AABBCollisionTree; + } + CHECKALLOC(mTree); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision model. This can be used to handle dynamic meshes. Usage is: + * 1. modify your mesh vertices (keep the topology constant!) + * 2. refit the tree (call this method) + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool BaseModel::Refit() +{ + // Refit the optimized tree + return mTree->Refit(mIMesh); + +// Old code kept for reference : refit the source tree then rebuild ! +// if(!mSource) return false; +// // Ouch... +// mSource->Refit(&mTB); +// // Ouch... +// return mTree->Build(mSource); +} diff --git a/Opcode/OPC_BaseModel.h b/Opcode/OPC_BaseModel.h index 15fc423..3c2e58c 100644 --- a/Opcode/OPC_BaseModel.h +++ b/Opcode/OPC_BaseModel.h @@ -1,175 +1,175 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains base model interface.
- * \file OPC_BaseModel.h
- * \author Pierre Terdiman
- * \date May, 18, 2003
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_BASEMODEL_H__
-#define __OPC_BASEMODEL_H__
-
- //! Model creation structure
- struct OPCODE_API OPCODECREATE
- {
- //! Constructor
- OPCODECREATE();
-
- MeshInterface* mIMesh; //!< Mesh interface (access to triangles & vertices) (*)
- BuildSettings mSettings; //!< Builder's settings
- bool mNoLeaf; //!< true => discard leaf nodes (else use a normal tree)
- bool mQuantized; //!< true => quantize the tree (else use a normal tree)
-#ifdef __MESHMERIZER_H__
- bool mCollisionHull; //!< true => use convex hull + GJK
-#endif // __MESHMERIZER_H__
- bool mKeepOriginal; //!< true => keep a copy of the original tree (debug purpose)
- bool mCanRemap; //!< true => allows OPCODE to reorganize client arrays
-
- // (*) This pointer is saved internally and used by OPCODE until collision structures are released,
- // so beware of the object's lifetime.
- };
-
- enum ModelFlag
- {
- OPC_QUANTIZED = (1<<0), //!< Compressed/uncompressed tree
- OPC_NO_LEAF = (1<<1), //!< Leaf/NoLeaf tree
- OPC_SINGLE_NODE = (1<<2) //!< Special case for 1-node models
- };
-
- class OPCODE_API BaseModel
- {
- public:
- // Constructor/Destructor
- BaseModel();
- virtual ~BaseModel();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Builds a collision model.
- * \param create [in] model creation structure
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual bool Build(const OPCODECREATE& create) = 0;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the number of bytes used by the tree.
- * \return amount of bytes used
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual udword GetUsedBytes() const = 0;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Refits the collision model. This can be used to handle dynamic meshes. Usage is:
- * 1. modify your mesh vertices (keep the topology constant!)
- * 2. refit the tree (call this method)
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual bool Refit();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the source tree.
- * \return generic tree
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ const AABBTree* GetSourceTree() const { return mSource; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the tree.
- * \return the collision tree
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ const AABBOptimizedTree* GetTree() const { return mTree; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the tree.
- * \return the collision tree
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ AABBOptimizedTree* GetTree() { return mTree; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the number of nodes in the tree.
- * Should be 2*N-1 for normal trees and N-1 for optimized ones.
- * \return number of nodes
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbNodes() const { return mTree->GetNbNodes(); }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks whether the tree has leaf nodes or not.
- * \return true if the tree has leaf nodes (normal tree), else false (optimized tree)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL HasLeafNodes() const { return !(mModelCode & OPC_NO_LEAF); }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks whether the tree is quantized or not.
- * \return true if the tree is quantized
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL IsQuantized() const { return mModelCode & OPC_QUANTIZED; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks whether the model has a single node or not. This special case must be handled separately.
- * \return true if the model has only 1 node
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL HasSingleNode() const { return mModelCode & OPC_SINGLE_NODE; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the model's code.
- * \return model's code
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetModelCode() const { return mModelCode; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the mesh interface.
- * \return mesh interface
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ const MeshInterface* GetMeshInterface() const { return mIMesh; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Sets the mesh interface.
- * \param imesh [in] mesh interface
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetMeshInterface(const MeshInterface* imesh) { mIMesh = imesh; }
-
- protected:
- const MeshInterface* mIMesh; //!< User-defined mesh interface
- udword mModelCode; //!< Model code = combination of ModelFlag(s)
- AABBTree* mSource; //!< Original source tree
- AABBOptimizedTree* mTree; //!< Optimized tree owned by the model
- // Internal methods
- void ReleaseBase();
- bool CreateTree(bool no_leaf, bool quantized);
- };
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base model interface. + * \file OPC_BaseModel.h + * \author Pierre Terdiman + * \date May, 18, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_BASEMODEL_H__ +#define __OPC_BASEMODEL_H__ + + //! Model creation structure + struct OPCODE_API OPCODECREATE + { + //! Constructor + OPCODECREATE(); + + MeshInterface* mIMesh; //!< Mesh interface (access to triangles & vertices) (*) + BuildSettings mSettings; //!< Builder's settings + bool mNoLeaf; //!< true => discard leaf nodes (else use a normal tree) + bool mQuantized; //!< true => quantize the tree (else use a normal tree) +#ifdef __MESHMERIZER_H__ + bool mCollisionHull; //!< true => use convex hull + GJK +#endif // __MESHMERIZER_H__ + bool mKeepOriginal; //!< true => keep a copy of the original tree (debug purpose) + bool mCanRemap; //!< true => allows OPCODE to reorganize client arrays + + // (*) This pointer is saved internally and used by OPCODE until collision structures are released, + // so beware of the object's lifetime. + }; + + enum ModelFlag + { + OPC_QUANTIZED = (1<<0), //!< Compressed/uncompressed tree + OPC_NO_LEAF = (1<<1), //!< Leaf/NoLeaf tree + OPC_SINGLE_NODE = (1<<2) //!< Special case for 1-node models + }; + + class OPCODE_API BaseModel + { + public: + // Constructor/Destructor + BaseModel(); + virtual ~BaseModel(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Build(const OPCODECREATE& create) = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual udword GetUsedBytes() const = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Refits the collision model. This can be used to handle dynamic meshes. Usage is: + * 1. modify your mesh vertices (keep the topology constant!) + * 2. refit the tree (call this method) + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Refit(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the source tree. + * \return generic tree + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const AABBTree* GetSourceTree() const { return mSource; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the tree. + * \return the collision tree + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const AABBOptimizedTree* GetTree() const { return mTree; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the tree. + * \return the collision tree + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ AABBOptimizedTree* GetTree() { return mTree; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of nodes in the tree. + * Should be 2*N-1 for normal trees and N-1 for optimized ones. + * \return number of nodes + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbNodes() const { return mTree->GetNbNodes(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks whether the tree has leaf nodes or not. + * \return true if the tree has leaf nodes (normal tree), else false (optimized tree) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL HasLeafNodes() const { return !(mModelCode & OPC_NO_LEAF); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks whether the tree is quantized or not. + * \return true if the tree is quantized + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsQuantized() const { return mModelCode & OPC_QUANTIZED; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks whether the model has a single node or not. This special case must be handled separately. + * \return true if the model has only 1 node + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL HasSingleNode() const { return mModelCode & OPC_SINGLE_NODE; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the model's code. + * \return model's code + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetModelCode() const { return mModelCode; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the mesh interface. + * \return mesh interface + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const MeshInterface* GetMeshInterface() const { return mIMesh; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Sets the mesh interface. + * \param imesh [in] mesh interface + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetMeshInterface(const MeshInterface* imesh) { mIMesh = imesh; } + + protected: + const MeshInterface* mIMesh; //!< User-defined mesh interface + udword mModelCode; //!< Model code = combination of ModelFlag(s) + AABBTree* mSource; //!< Original source tree + AABBOptimizedTree* mTree; //!< Optimized tree owned by the model + // Internal methods + void ReleaseBase(); + bool CreateTree(bool no_leaf, bool quantized); + }; + #endif //__OPC_BASEMODEL_H__
\ No newline at end of file diff --git a/Opcode/OPC_BoxBoxOverlap.h b/Opcode/OPC_BoxBoxOverlap.h index fd39dbb..78a7675 100644 --- a/Opcode/OPC_BoxBoxOverlap.h +++ b/Opcode/OPC_BoxBoxOverlap.h @@ -1,122 +1,122 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * OBB-OBB overlap test using the separating axis theorem.
- * - original code by Gomez / Gamasutra (similar to Gottschalk's one in RAPID)
- * - optimized for AABB trees by computing the rotation matrix once (SOLID-fashion)
- * - the fabs matrix is precomputed as well and epsilon-tweaked (RAPID-style, we found this almost mandatory)
- * - Class III axes can be disabled... (SOLID & Intel fashion)
- * - ...or enabled to perform some profiling
- * - CPU comparisons used when appropriate
- * - lazy evaluation sometimes saves some work in case of early exits (unlike SOLID)
- *
- * \param ea [in] extents from box A
- * \param ca [in] center from box A
- * \param eb [in] extents from box B
- * \param cb [in] center from box B
- * \return true if boxes overlap
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL AABBTreeCollider::BoxBoxOverlap(const IcePoint& ea, const IcePoint& ca, const IcePoint& eb, const IcePoint& cb)
-{
- // Stats
- mNbBVBVTests++;
-
- float t,t2;
-
- // Class I : A's basis vectors
- float Tx = (mR1to0.m[0][0]*cb.x + mR1to0.m[1][0]*cb.y + mR1to0.m[2][0]*cb.z) + mT1to0.x - ca.x;
- t = ea.x + eb.x*mAR.m[0][0] + eb.y*mAR.m[1][0] + eb.z*mAR.m[2][0];
- if(GREATER(Tx, t)) return FALSE;
-
- float Ty = (mR1to0.m[0][1]*cb.x + mR1to0.m[1][1]*cb.y + mR1to0.m[2][1]*cb.z) + mT1to0.y - ca.y;
- t = ea.y + eb.x*mAR.m[0][1] + eb.y*mAR.m[1][1] + eb.z*mAR.m[2][1];
- if(GREATER(Ty, t)) return FALSE;
-
- float Tz = (mR1to0.m[0][2]*cb.x + mR1to0.m[1][2]*cb.y + mR1to0.m[2][2]*cb.z) + mT1to0.z - ca.z;
- t = ea.z + eb.x*mAR.m[0][2] + eb.y*mAR.m[1][2] + eb.z*mAR.m[2][2];
- if(GREATER(Tz, t)) return FALSE;
-
- // Class II : B's basis vectors
- t = Tx*mR1to0.m[0][0] + Ty*mR1to0.m[0][1] + Tz*mR1to0.m[0][2]; t2 = ea.x*mAR.m[0][0] + ea.y*mAR.m[0][1] + ea.z*mAR.m[0][2] + eb.x;
- if(GREATER(t, t2)) return FALSE;
-
- t = Tx*mR1to0.m[1][0] + Ty*mR1to0.m[1][1] + Tz*mR1to0.m[1][2]; t2 = ea.x*mAR.m[1][0] + ea.y*mAR.m[1][1] + ea.z*mAR.m[1][2] + eb.y;
- if(GREATER(t, t2)) return FALSE;
-
- t = Tx*mR1to0.m[2][0] + Ty*mR1to0.m[2][1] + Tz*mR1to0.m[2][2]; t2 = ea.x*mAR.m[2][0] + ea.y*mAR.m[2][1] + ea.z*mAR.m[2][2] + eb.z;
- if(GREATER(t, t2)) return FALSE;
-
- // Class III : 9 cross products
- // Cool trick: always perform the full test for first level, regardless of settings.
- // That way pathological cases (such as the pencils scene) are quickly rejected anyway !
- if(mFullBoxBoxTest || mNbBVBVTests==1)
- {
- t = Tz*mR1to0.m[0][1] - Ty*mR1to0.m[0][2]; t2 = ea.y*mAR.m[0][2] + ea.z*mAR.m[0][1] + eb.y*mAR.m[2][0] + eb.z*mAR.m[1][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B0
- t = Tz*mR1to0.m[1][1] - Ty*mR1to0.m[1][2]; t2 = ea.y*mAR.m[1][2] + ea.z*mAR.m[1][1] + eb.x*mAR.m[2][0] + eb.z*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B1
- t = Tz*mR1to0.m[2][1] - Ty*mR1to0.m[2][2]; t2 = ea.y*mAR.m[2][2] + ea.z*mAR.m[2][1] + eb.x*mAR.m[1][0] + eb.y*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B2
- t = Tx*mR1to0.m[0][2] - Tz*mR1to0.m[0][0]; t2 = ea.x*mAR.m[0][2] + ea.z*mAR.m[0][0] + eb.y*mAR.m[2][1] + eb.z*mAR.m[1][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B0
- t = Tx*mR1to0.m[1][2] - Tz*mR1to0.m[1][0]; t2 = ea.x*mAR.m[1][2] + ea.z*mAR.m[1][0] + eb.x*mAR.m[2][1] + eb.z*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B1
- t = Tx*mR1to0.m[2][2] - Tz*mR1to0.m[2][0]; t2 = ea.x*mAR.m[2][2] + ea.z*mAR.m[2][0] + eb.x*mAR.m[1][1] + eb.y*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B2
- t = Ty*mR1to0.m[0][0] - Tx*mR1to0.m[0][1]; t2 = ea.x*mAR.m[0][1] + ea.y*mAR.m[0][0] + eb.y*mAR.m[2][2] + eb.z*mAR.m[1][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B0
- t = Ty*mR1to0.m[1][0] - Tx*mR1to0.m[1][1]; t2 = ea.x*mAR.m[1][1] + ea.y*mAR.m[1][0] + eb.x*mAR.m[2][2] + eb.z*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B1
- t = Ty*mR1to0.m[2][0] - Tx*mR1to0.m[2][1]; t2 = ea.x*mAR.m[2][1] + ea.y*mAR.m[2][0] + eb.x*mAR.m[1][2] + eb.y*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B2
- }
- return TRUE;
-}
-
-//! A dedicated version when one box is constant
-inline_ BOOL OBBCollider::BoxBoxOverlap(const IcePoint& extents, const IcePoint& center)
-{
- // Stats
- mNbVolumeBVTests++;
-
- float t,t2;
-
- // Class I : A's basis vectors
- float Tx = mTBoxToModel.x - center.x; t = extents.x + mBBx1; if(GREATER(Tx, t)) return FALSE;
- float Ty = mTBoxToModel.y - center.y; t = extents.y + mBBy1; if(GREATER(Ty, t)) return FALSE;
- float Tz = mTBoxToModel.z - center.z; t = extents.z + mBBz1; if(GREATER(Tz, t)) return FALSE;
-
- // Class II : B's basis vectors
- t = Tx*mRBoxToModel.m[0][0] + Ty*mRBoxToModel.m[0][1] + Tz*mRBoxToModel.m[0][2];
- t2 = extents.x*mAR.m[0][0] + extents.y*mAR.m[0][1] + extents.z*mAR.m[0][2] + mBoxExtents.x;
- if(GREATER(t, t2)) return FALSE;
-
- t = Tx*mRBoxToModel.m[1][0] + Ty*mRBoxToModel.m[1][1] + Tz*mRBoxToModel.m[1][2];
- t2 = extents.x*mAR.m[1][0] + extents.y*mAR.m[1][1] + extents.z*mAR.m[1][2] + mBoxExtents.y;
- if(GREATER(t, t2)) return FALSE;
-
- t = Tx*mRBoxToModel.m[2][0] + Ty*mRBoxToModel.m[2][1] + Tz*mRBoxToModel.m[2][2];
- t2 = extents.x*mAR.m[2][0] + extents.y*mAR.m[2][1] + extents.z*mAR.m[2][2] + mBoxExtents.z;
- if(GREATER(t, t2)) return FALSE;
-
- // Class III : 9 cross products
- // Cool trick: always perform the full test for first level, regardless of settings.
- // That way pathological cases (such as the pencils scene) are quickly rejected anyway !
- if(mFullBoxBoxTest || mNbVolumeBVTests==1)
- {
- t = Tz*mRBoxToModel.m[0][1] - Ty*mRBoxToModel.m[0][2]; t2 = extents.y*mAR.m[0][2] + extents.z*mAR.m[0][1] + mBB_1; if(GREATER(t, t2)) return FALSE; // L = A0 x B0
- t = Tz*mRBoxToModel.m[1][1] - Ty*mRBoxToModel.m[1][2]; t2 = extents.y*mAR.m[1][2] + extents.z*mAR.m[1][1] + mBB_2; if(GREATER(t, t2)) return FALSE; // L = A0 x B1
- t = Tz*mRBoxToModel.m[2][1] - Ty*mRBoxToModel.m[2][2]; t2 = extents.y*mAR.m[2][2] + extents.z*mAR.m[2][1] + mBB_3; if(GREATER(t, t2)) return FALSE; // L = A0 x B2
- t = Tx*mRBoxToModel.m[0][2] - Tz*mRBoxToModel.m[0][0]; t2 = extents.x*mAR.m[0][2] + extents.z*mAR.m[0][0] + mBB_4; if(GREATER(t, t2)) return FALSE; // L = A1 x B0
- t = Tx*mRBoxToModel.m[1][2] - Tz*mRBoxToModel.m[1][0]; t2 = extents.x*mAR.m[1][2] + extents.z*mAR.m[1][0] + mBB_5; if(GREATER(t, t2)) return FALSE; // L = A1 x B1
- t = Tx*mRBoxToModel.m[2][2] - Tz*mRBoxToModel.m[2][0]; t2 = extents.x*mAR.m[2][2] + extents.z*mAR.m[2][0] + mBB_6; if(GREATER(t, t2)) return FALSE; // L = A1 x B2
- t = Ty*mRBoxToModel.m[0][0] - Tx*mRBoxToModel.m[0][1]; t2 = extents.x*mAR.m[0][1] + extents.y*mAR.m[0][0] + mBB_7; if(GREATER(t, t2)) return FALSE; // L = A2 x B0
- t = Ty*mRBoxToModel.m[1][0] - Tx*mRBoxToModel.m[1][1]; t2 = extents.x*mAR.m[1][1] + extents.y*mAR.m[1][0] + mBB_8; if(GREATER(t, t2)) return FALSE; // L = A2 x B1
- t = Ty*mRBoxToModel.m[2][0] - Tx*mRBoxToModel.m[2][1]; t2 = extents.x*mAR.m[2][1] + extents.y*mAR.m[2][0] + mBB_9; if(GREATER(t, t2)) return FALSE; // L = A2 x B2
- }
- return TRUE;
-}
-
-//! A special version for 2 axis-aligned boxes
-inline_ BOOL AABBCollider::AABBAABBOverlap(const IcePoint& extents, const IcePoint& center)
-{
- // Stats
- mNbVolumeBVTests++;
-
- float tx = mBox.mCenter.x - center.x; float ex = extents.x + mBox.mExtents.x; if(GREATER(tx, ex)) return FALSE;
- float ty = mBox.mCenter.y - center.y; float ey = extents.y + mBox.mExtents.y; if(GREATER(ty, ey)) return FALSE;
- float tz = mBox.mCenter.z - center.z; float ez = extents.z + mBox.mExtents.z; if(GREATER(tz, ez)) return FALSE;
-
- return TRUE;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * OBB-OBB overlap test using the separating axis theorem. + * - original code by Gomez / Gamasutra (similar to Gottschalk's one in RAPID) + * - optimized for AABB trees by computing the rotation matrix once (SOLID-fashion) + * - the fabs matrix is precomputed as well and epsilon-tweaked (RAPID-style, we found this almost mandatory) + * - Class III axes can be disabled... (SOLID & Intel fashion) + * - ...or enabled to perform some profiling + * - CPU comparisons used when appropriate + * - lazy evaluation sometimes saves some work in case of early exits (unlike SOLID) + * + * \param ea [in] extents from box A + * \param ca [in] center from box A + * \param eb [in] extents from box B + * \param cb [in] center from box B + * \return true if boxes overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL AABBTreeCollider::BoxBoxOverlap(const IcePoint& ea, const IcePoint& ca, const IcePoint& eb, const IcePoint& cb) +{ + // Stats + mNbBVBVTests++; + + float t,t2; + + // Class I : A's basis vectors + float Tx = (mR1to0.m[0][0]*cb.x + mR1to0.m[1][0]*cb.y + mR1to0.m[2][0]*cb.z) + mT1to0.x - ca.x; + t = ea.x + eb.x*mAR.m[0][0] + eb.y*mAR.m[1][0] + eb.z*mAR.m[2][0]; + if(GREATER(Tx, t)) return FALSE; + + float Ty = (mR1to0.m[0][1]*cb.x + mR1to0.m[1][1]*cb.y + mR1to0.m[2][1]*cb.z) + mT1to0.y - ca.y; + t = ea.y + eb.x*mAR.m[0][1] + eb.y*mAR.m[1][1] + eb.z*mAR.m[2][1]; + if(GREATER(Ty, t)) return FALSE; + + float Tz = (mR1to0.m[0][2]*cb.x + mR1to0.m[1][2]*cb.y + mR1to0.m[2][2]*cb.z) + mT1to0.z - ca.z; + t = ea.z + eb.x*mAR.m[0][2] + eb.y*mAR.m[1][2] + eb.z*mAR.m[2][2]; + if(GREATER(Tz, t)) return FALSE; + + // Class II : B's basis vectors + t = Tx*mR1to0.m[0][0] + Ty*mR1to0.m[0][1] + Tz*mR1to0.m[0][2]; t2 = ea.x*mAR.m[0][0] + ea.y*mAR.m[0][1] + ea.z*mAR.m[0][2] + eb.x; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mR1to0.m[1][0] + Ty*mR1to0.m[1][1] + Tz*mR1to0.m[1][2]; t2 = ea.x*mAR.m[1][0] + ea.y*mAR.m[1][1] + ea.z*mAR.m[1][2] + eb.y; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mR1to0.m[2][0] + Ty*mR1to0.m[2][1] + Tz*mR1to0.m[2][2]; t2 = ea.x*mAR.m[2][0] + ea.y*mAR.m[2][1] + ea.z*mAR.m[2][2] + eb.z; + if(GREATER(t, t2)) return FALSE; + + // Class III : 9 cross products + // Cool trick: always perform the full test for first level, regardless of settings. + // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! + if(mFullBoxBoxTest || mNbBVBVTests==1) + { + t = Tz*mR1to0.m[0][1] - Ty*mR1to0.m[0][2]; t2 = ea.y*mAR.m[0][2] + ea.z*mAR.m[0][1] + eb.y*mAR.m[2][0] + eb.z*mAR.m[1][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 + t = Tz*mR1to0.m[1][1] - Ty*mR1to0.m[1][2]; t2 = ea.y*mAR.m[1][2] + ea.z*mAR.m[1][1] + eb.x*mAR.m[2][0] + eb.z*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 + t = Tz*mR1to0.m[2][1] - Ty*mR1to0.m[2][2]; t2 = ea.y*mAR.m[2][2] + ea.z*mAR.m[2][1] + eb.x*mAR.m[1][0] + eb.y*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 + t = Tx*mR1to0.m[0][2] - Tz*mR1to0.m[0][0]; t2 = ea.x*mAR.m[0][2] + ea.z*mAR.m[0][0] + eb.y*mAR.m[2][1] + eb.z*mAR.m[1][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 + t = Tx*mR1to0.m[1][2] - Tz*mR1to0.m[1][0]; t2 = ea.x*mAR.m[1][2] + ea.z*mAR.m[1][0] + eb.x*mAR.m[2][1] + eb.z*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 + t = Tx*mR1to0.m[2][2] - Tz*mR1to0.m[2][0]; t2 = ea.x*mAR.m[2][2] + ea.z*mAR.m[2][0] + eb.x*mAR.m[1][1] + eb.y*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 + t = Ty*mR1to0.m[0][0] - Tx*mR1to0.m[0][1]; t2 = ea.x*mAR.m[0][1] + ea.y*mAR.m[0][0] + eb.y*mAR.m[2][2] + eb.z*mAR.m[1][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 + t = Ty*mR1to0.m[1][0] - Tx*mR1to0.m[1][1]; t2 = ea.x*mAR.m[1][1] + ea.y*mAR.m[1][0] + eb.x*mAR.m[2][2] + eb.z*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 + t = Ty*mR1to0.m[2][0] - Tx*mR1to0.m[2][1]; t2 = ea.x*mAR.m[2][1] + ea.y*mAR.m[2][0] + eb.x*mAR.m[1][2] + eb.y*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 + } + return TRUE; +} + +//! A dedicated version when one box is constant +inline_ BOOL OBBCollider::BoxBoxOverlap(const IcePoint& extents, const IcePoint& center) +{ + // Stats + mNbVolumeBVTests++; + + float t,t2; + + // Class I : A's basis vectors + float Tx = mTBoxToModel.x - center.x; t = extents.x + mBBx1; if(GREATER(Tx, t)) return FALSE; + float Ty = mTBoxToModel.y - center.y; t = extents.y + mBBy1; if(GREATER(Ty, t)) return FALSE; + float Tz = mTBoxToModel.z - center.z; t = extents.z + mBBz1; if(GREATER(Tz, t)) return FALSE; + + // Class II : B's basis vectors + t = Tx*mRBoxToModel.m[0][0] + Ty*mRBoxToModel.m[0][1] + Tz*mRBoxToModel.m[0][2]; + t2 = extents.x*mAR.m[0][0] + extents.y*mAR.m[0][1] + extents.z*mAR.m[0][2] + mBoxExtents.x; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mRBoxToModel.m[1][0] + Ty*mRBoxToModel.m[1][1] + Tz*mRBoxToModel.m[1][2]; + t2 = extents.x*mAR.m[1][0] + extents.y*mAR.m[1][1] + extents.z*mAR.m[1][2] + mBoxExtents.y; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mRBoxToModel.m[2][0] + Ty*mRBoxToModel.m[2][1] + Tz*mRBoxToModel.m[2][2]; + t2 = extents.x*mAR.m[2][0] + extents.y*mAR.m[2][1] + extents.z*mAR.m[2][2] + mBoxExtents.z; + if(GREATER(t, t2)) return FALSE; + + // Class III : 9 cross products + // Cool trick: always perform the full test for first level, regardless of settings. + // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! + if(mFullBoxBoxTest || mNbVolumeBVTests==1) + { + t = Tz*mRBoxToModel.m[0][1] - Ty*mRBoxToModel.m[0][2]; t2 = extents.y*mAR.m[0][2] + extents.z*mAR.m[0][1] + mBB_1; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 + t = Tz*mRBoxToModel.m[1][1] - Ty*mRBoxToModel.m[1][2]; t2 = extents.y*mAR.m[1][2] + extents.z*mAR.m[1][1] + mBB_2; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 + t = Tz*mRBoxToModel.m[2][1] - Ty*mRBoxToModel.m[2][2]; t2 = extents.y*mAR.m[2][2] + extents.z*mAR.m[2][1] + mBB_3; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 + t = Tx*mRBoxToModel.m[0][2] - Tz*mRBoxToModel.m[0][0]; t2 = extents.x*mAR.m[0][2] + extents.z*mAR.m[0][0] + mBB_4; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 + t = Tx*mRBoxToModel.m[1][2] - Tz*mRBoxToModel.m[1][0]; t2 = extents.x*mAR.m[1][2] + extents.z*mAR.m[1][0] + mBB_5; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 + t = Tx*mRBoxToModel.m[2][2] - Tz*mRBoxToModel.m[2][0]; t2 = extents.x*mAR.m[2][2] + extents.z*mAR.m[2][0] + mBB_6; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 + t = Ty*mRBoxToModel.m[0][0] - Tx*mRBoxToModel.m[0][1]; t2 = extents.x*mAR.m[0][1] + extents.y*mAR.m[0][0] + mBB_7; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 + t = Ty*mRBoxToModel.m[1][0] - Tx*mRBoxToModel.m[1][1]; t2 = extents.x*mAR.m[1][1] + extents.y*mAR.m[1][0] + mBB_8; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 + t = Ty*mRBoxToModel.m[2][0] - Tx*mRBoxToModel.m[2][1]; t2 = extents.x*mAR.m[2][1] + extents.y*mAR.m[2][0] + mBB_9; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 + } + return TRUE; +} + +//! A special version for 2 axis-aligned boxes +inline_ BOOL AABBCollider::AABBAABBOverlap(const IcePoint& extents, const IcePoint& center) +{ + // Stats + mNbVolumeBVTests++; + + float tx = mBox.mCenter.x - center.x; float ex = extents.x + mBox.mExtents.x; if(GREATER(tx, ex)) return FALSE; + float ty = mBox.mCenter.y - center.y; float ey = extents.y + mBox.mExtents.y; if(GREATER(ty, ey)) return FALSE; + float tz = mBox.mCenter.z - center.z; float ez = extents.z + mBox.mExtents.z; if(GREATER(tz, ez)) return FALSE; + + return TRUE; +} diff --git a/Opcode/OPC_BoxPruning.cpp b/Opcode/OPC_BoxPruning.cpp index 74a3b3b..3735a39 100644 --- a/Opcode/OPC_BoxPruning.cpp +++ b/Opcode/OPC_BoxPruning.cpp @@ -1,367 +1,367 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for box pruning.
- * \file IceBoxPruning.cpp
- * \author Pierre Terdiman
- * \date January, 29, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-/*
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- You could use a complex sweep-and-prune as implemented in I-Collide.
- You could use a complex hashing scheme as implemented in V-Clip or recently in ODE it seems.
- You could use a "Recursive Dimensional Clustering" algorithm as implemented in GPG2.
-
- Or you could use this.
- Faster ? I don't know. Probably not. It would be a shame. But who knows ?
- Easier ? Definitely. Enjoy the sheer simplicity.
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-*/
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
- inline_ void FindRunningIndex(udword& index, float* array, udword* sorted, int last, float max)
- {
- int First=index;
- while(First<=last)
- {
- index = (First+last)>>1;
-
- if(max>array[sorted[index]]) First = index+1;
- else last = index-1;
- }
- }
-// ### could be log(n) !
-// and maybe use cmp integers
-
-// InsertionSort has better coherence, RadixSort is better for one-shot queries.
-#define PRUNING_SORTER RadixSort
-//#define PRUNING_SORTER InsertionSort
-
-// Static for coherence
-static PRUNING_SORTER* gCompletePruningSorter = null;
-static PRUNING_SORTER* gBipartitePruningSorter0 = null;
-static PRUNING_SORTER* gBipartitePruningSorter1 = null;
-inline_ PRUNING_SORTER* GetCompletePruningSorter()
-{
- if(!gCompletePruningSorter) gCompletePruningSorter = new PRUNING_SORTER;
- return gCompletePruningSorter;
-}
-inline_ PRUNING_SORTER* GetBipartitePruningSorter0()
-{
- if(!gBipartitePruningSorter0) gBipartitePruningSorter0 = new PRUNING_SORTER;
- return gBipartitePruningSorter0;
-}
-inline_ PRUNING_SORTER* GetBipartitePruningSorter1()
-{
- if(!gBipartitePruningSorter1) gBipartitePruningSorter1 = new PRUNING_SORTER;
- return gBipartitePruningSorter1;
-}
-void ReleasePruningSorters()
-{
- DELETESINGLE(gBipartitePruningSorter1);
- DELETESINGLE(gBipartitePruningSorter0);
- DELETESINGLE(gCompletePruningSorter);
-}
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
- * \param nb0 [in] number of boxes in the first set
- * \param array0 [in] array of boxes for the first set
- * \param nb1 [in] number of boxes in the second set
- * \param array1 [in] array of boxes for the second set
- * \param pairs [out] array of overlapping pairs
- * \param axes [in] projection order (0,2,1 is often best)
- * \return true if success.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Opcode::BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes)
-{
- // Checkings
- if(!nb0 || !array0 || !nb1 || !array1) return false;
-
- // Catch axes
- udword Axis0 = axes.mAxis0;
- udword Axis1 = axes.mAxis1;
- udword Axis2 = axes.mAxis2;
-
- // Allocate some temporary data
- float* MinPosList0 = new float[nb0];
- float* MinPosList1 = new float[nb1];
-
- // 1) Build main lists using the primary axis
- for(udword i=0;i<nb0;i++) MinPosList0[i] = array0[i]->GetMin(Axis0);
- for(udword i=0;i<nb1;i++) MinPosList1[i] = array1[i]->GetMin(Axis0);
-
- // 2) Sort the lists
- PRUNING_SORTER* RS0 = GetBipartitePruningSorter0();
- PRUNING_SORTER* RS1 = GetBipartitePruningSorter1();
- const udword* Sorted0 = RS0->Sort(MinPosList0, nb0).GetRanks();
- const udword* Sorted1 = RS1->Sort(MinPosList1, nb1).GetRanks();
-
- // 3) Prune the lists
- udword Index0, Index1;
-
- const udword* const LastSorted0 = &Sorted0[nb0];
- const udword* const LastSorted1 = &Sorted1[nb1];
- const udword* RunningAddress0 = Sorted0;
- const udword* RunningAddress1 = Sorted1;
-
- while(RunningAddress1<LastSorted1 && Sorted0<LastSorted0)
- {
- Index0 = *Sorted0++;
-
- while(RunningAddress1<LastSorted1 && MinPosList1[*RunningAddress1]<MinPosList0[Index0]) RunningAddress1++;
-
- const udword* RunningAddress2_1 = RunningAddress1;
-
- while(RunningAddress2_1<LastSorted1 && MinPosList1[Index1 = *RunningAddress2_1++]<=array0[Index0]->GetMax(Axis0))
- {
- if(array0[Index0]->Intersect(*array1[Index1], Axis1))
- {
- if(array0[Index0]->Intersect(*array1[Index1], Axis2))
- {
- pairs.AddPair(Index0, Index1);
- }
- }
- }
- }
-
- ////
-
- while(RunningAddress0<LastSorted0 && Sorted1<LastSorted1)
- {
- Index0 = *Sorted1++;
-
- while(RunningAddress0<LastSorted0 && MinPosList0[*RunningAddress0]<=MinPosList1[Index0]) RunningAddress0++;
-
- const udword* RunningAddress2_0 = RunningAddress0;
-
- while(RunningAddress2_0<LastSorted0 && MinPosList0[Index1 = *RunningAddress2_0++]<=array1[Index0]->GetMax(Axis0))
- {
- if(array0[Index1]->Intersect(*array1[Index0], Axis1))
- {
- if(array0[Index1]->Intersect(*array1[Index0], Axis2))
- {
- pairs.AddPair(Index1, Index0);
- }
- }
-
- }
- }
-
- DELETEARRAY(MinPosList1);
- DELETEARRAY(MinPosList0);
-
- return true;
-}
-
-#define ORIGINAL_VERSION
-//#define JOAKIM
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
- * \param nb [in] number of boxes
- * \param array [in] array of boxes
- * \param pairs [out] array of overlapping pairs
- * \param axes [in] projection order (0,2,1 is often best)
- * \return true if success.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Opcode::CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes)
-{
- // Checkings
- if(!nb || !array) return false;
-
- // Catch axes
- udword Axis0 = axes.mAxis0;
- udword Axis1 = axes.mAxis1;
- udword Axis2 = axes.mAxis2;
-
-#ifdef ORIGINAL_VERSION
- // Allocate some temporary data
-// float* PosList = new float[nb];
- float* PosList = new float[nb+1];
-
- // 1) Build main list using the primary axis
- for(udword i=0;i<nb;i++) PosList[i] = array[i]->GetMin(Axis0);
-PosList[nb++] = MAX_FLOAT;
-
- // 2) Sort the list
- PRUNING_SORTER* RS = GetCompletePruningSorter();
- const udword* Sorted = RS->Sort(PosList, nb).GetRanks();
-
- // 3) Prune the list
- const udword* const LastSorted = &Sorted[nb];
- const udword* RunningAddress = Sorted;
- udword Index0, Index1;
- while(RunningAddress<LastSorted && Sorted<LastSorted)
- {
- Index0 = *Sorted++;
-
-// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]);
- while(PosList[*RunningAddress++]<PosList[Index0]);
-
- if(RunningAddress<LastSorted)
- {
- const udword* RunningAddress2 = RunningAddress;
-
-// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
- while(PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
- {
-// if(Index0!=Index1)
-// {
- if(array[Index0]->Intersect(*array[Index1], Axis1))
- {
- if(array[Index0]->Intersect(*array[Index1], Axis2))
- {
- pairs.AddPair(Index0, Index1);
- }
- }
-// }
- }
- }
- }
-
- DELETEARRAY(PosList);
-#endif
-
-#ifdef JOAKIM
- // Allocate some temporary data
-// float* PosList = new float[nb];
- float* MinList = new float[nb+1];
-
- // 1) Build main list using the primary axis
- for(udword i=0;i<nb;i++) MinList[i] = array[i]->GetMin(Axis0);
- MinList[nb] = MAX_FLOAT;
-
- // 2) Sort the list
- PRUNING_SORTER* RS = GetCompletePruningSorter();
- udword* Sorted = RS->Sort(MinList, nb+1).GetRanks();
-
- // 3) Prune the list
-// const udword* const LastSorted = &Sorted[nb];
-// const udword* const LastSorted = &Sorted[nb-1];
- const udword* RunningAddress = Sorted;
- udword Index0, Index1;
-
-// while(RunningAddress<LastSorted && Sorted<LastSorted)
-// while(RunningAddress<LastSorted)
- while(RunningAddress<&Sorted[nb])
-// while(Sorted<LastSorted)
- {
-// Index0 = *Sorted++;
- Index0 = *RunningAddress++;
-
-// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]);
-// while(PosList[*RunningAddress++]<PosList[Index0]);
-//RunningAddress = Sorted;
-// if(RunningAddress<LastSorted)
- {
- const udword* RunningAddress2 = RunningAddress;
-
-// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
-
-// float CurrentMin = array[Index0]->GetMin(Axis0);
- float CurrentMax = array[Index0]->GetMax(Axis0);
-
- while(MinList[Index1 = *RunningAddress2] <= CurrentMax)
-// while(PosList[Index1 = *RunningAddress] <= CurrentMax)
- {
-// if(Index0!=Index1)
-// {
- if(array[Index0]->Intersect(*array[Index1], Axis1))
- {
- if(array[Index0]->Intersect(*array[Index1], Axis2))
- {
- pairs.AddPair(Index0, Index1);
- }
- }
-// }
-
- RunningAddress2++;
-// RunningAddress++;
- }
- }
- }
-
- DELETEARRAY(MinList);
-#endif
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Brute-force versions are kept:
-// - to check the optimized versions return the correct list of intersections
-// - to check the speed of the optimized code against the brute-force one
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Brute-force bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
- * \param nb0 [in] number of boxes in the first set
- * \param array0 [in] array of boxes for the first set
- * \param nb1 [in] number of boxes in the second set
- * \param array1 [in] array of boxes for the second set
- * \param pairs [out] array of overlapping pairs
- * \return true if success.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Opcode::BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs)
-{
- // Checkings
- if(!nb0 || !array0 || !nb1 || !array1) return false;
-
- // Brute-force nb0*nb1 overlap tests
- for(udword i=0;i<nb0;i++)
- {
- for(udword j=0;j<nb1;j++)
- {
- if(array0[i]->Intersect(*array1[j])) pairs.AddPair(i, j);
- }
- }
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
- * \param nb [in] number of boxes
- * \param array [in] array of boxes
- * \param pairs [out] array of overlapping pairs
- * \return true if success.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Opcode::BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs)
-{
- // Checkings
- if(!nb || !array) return false;
-
- // Brute-force n(n-1)/2 overlap tests
- for(udword i=0;i<nb;i++)
- {
- for(udword j=i+1;j<nb;j++)
- {
- if(array[i]->Intersect(*array[j])) pairs.AddPair(i, j);
- }
- }
- return true;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for box pruning. + * \file IceBoxPruning.cpp + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/* +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + You could use a complex sweep-and-prune as implemented in I-Collide. + You could use a complex hashing scheme as implemented in V-Clip or recently in ODE it seems. + You could use a "Recursive Dimensional Clustering" algorithm as implemented in GPG2. + + Or you could use this. + Faster ? I don't know. Probably not. It would be a shame. But who knows ? + Easier ? Definitely. Enjoy the sheer simplicity. +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +*/ + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + + inline_ void FindRunningIndex(udword& index, float* array, udword* sorted, int last, float max) + { + int First=index; + while(First<=last) + { + index = (First+last)>>1; + + if(max>array[sorted[index]]) First = index+1; + else last = index-1; + } + } +// ### could be log(n) ! +// and maybe use cmp integers + +// InsertionSort has better coherence, RadixSort is better for one-shot queries. +#define PRUNING_SORTER RadixSort +//#define PRUNING_SORTER InsertionSort + +// Static for coherence +static PRUNING_SORTER* gCompletePruningSorter = null; +static PRUNING_SORTER* gBipartitePruningSorter0 = null; +static PRUNING_SORTER* gBipartitePruningSorter1 = null; +inline_ PRUNING_SORTER* GetCompletePruningSorter() +{ + if(!gCompletePruningSorter) gCompletePruningSorter = new PRUNING_SORTER; + return gCompletePruningSorter; +} +inline_ PRUNING_SORTER* GetBipartitePruningSorter0() +{ + if(!gBipartitePruningSorter0) gBipartitePruningSorter0 = new PRUNING_SORTER; + return gBipartitePruningSorter0; +} +inline_ PRUNING_SORTER* GetBipartitePruningSorter1() +{ + if(!gBipartitePruningSorter1) gBipartitePruningSorter1 = new PRUNING_SORTER; + return gBipartitePruningSorter1; +} +void ReleasePruningSorters() +{ + DELETESINGLE(gBipartitePruningSorter1); + DELETESINGLE(gBipartitePruningSorter0); + DELETESINGLE(gCompletePruningSorter); +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. + * \param nb0 [in] number of boxes in the first set + * \param array0 [in] array of boxes for the first set + * \param nb1 [in] number of boxes in the second set + * \param array1 [in] array of boxes for the second set + * \param pairs [out] array of overlapping pairs + * \param axes [in] projection order (0,2,1 is often best) + * \return true if success. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Opcode::BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes) +{ + // Checkings + if(!nb0 || !array0 || !nb1 || !array1) return false; + + // Catch axes + udword Axis0 = axes.mAxis0; + udword Axis1 = axes.mAxis1; + udword Axis2 = axes.mAxis2; + + // Allocate some temporary data + float* MinPosList0 = new float[nb0]; + float* MinPosList1 = new float[nb1]; + + // 1) Build main lists using the primary axis + for(udword i=0;i<nb0;i++) MinPosList0[i] = array0[i]->GetMin(Axis0); + for(udword i=0;i<nb1;i++) MinPosList1[i] = array1[i]->GetMin(Axis0); + + // 2) Sort the lists + PRUNING_SORTER* RS0 = GetBipartitePruningSorter0(); + PRUNING_SORTER* RS1 = GetBipartitePruningSorter1(); + const udword* Sorted0 = RS0->Sort(MinPosList0, nb0).GetRanks(); + const udword* Sorted1 = RS1->Sort(MinPosList1, nb1).GetRanks(); + + // 3) Prune the lists + udword Index0, Index1; + + const udword* const LastSorted0 = &Sorted0[nb0]; + const udword* const LastSorted1 = &Sorted1[nb1]; + const udword* RunningAddress0 = Sorted0; + const udword* RunningAddress1 = Sorted1; + + while(RunningAddress1<LastSorted1 && Sorted0<LastSorted0) + { + Index0 = *Sorted0++; + + while(RunningAddress1<LastSorted1 && MinPosList1[*RunningAddress1]<MinPosList0[Index0]) RunningAddress1++; + + const udword* RunningAddress2_1 = RunningAddress1; + + while(RunningAddress2_1<LastSorted1 && MinPosList1[Index1 = *RunningAddress2_1++]<=array0[Index0]->GetMax(Axis0)) + { + if(array0[Index0]->Intersect(*array1[Index1], Axis1)) + { + if(array0[Index0]->Intersect(*array1[Index1], Axis2)) + { + pairs.AddPair(Index0, Index1); + } + } + } + } + + //// + + while(RunningAddress0<LastSorted0 && Sorted1<LastSorted1) + { + Index0 = *Sorted1++; + + while(RunningAddress0<LastSorted0 && MinPosList0[*RunningAddress0]<=MinPosList1[Index0]) RunningAddress0++; + + const udword* RunningAddress2_0 = RunningAddress0; + + while(RunningAddress2_0<LastSorted0 && MinPosList0[Index1 = *RunningAddress2_0++]<=array1[Index0]->GetMax(Axis0)) + { + if(array0[Index1]->Intersect(*array1[Index0], Axis1)) + { + if(array0[Index1]->Intersect(*array1[Index0], Axis2)) + { + pairs.AddPair(Index1, Index0); + } + } + + } + } + + DELETEARRAY(MinPosList1); + DELETEARRAY(MinPosList0); + + return true; +} + +#define ORIGINAL_VERSION +//#define JOAKIM + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. + * \param nb [in] number of boxes + * \param array [in] array of boxes + * \param pairs [out] array of overlapping pairs + * \param axes [in] projection order (0,2,1 is often best) + * \return true if success. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Opcode::CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes) +{ + // Checkings + if(!nb || !array) return false; + + // Catch axes + udword Axis0 = axes.mAxis0; + udword Axis1 = axes.mAxis1; + udword Axis2 = axes.mAxis2; + +#ifdef ORIGINAL_VERSION + // Allocate some temporary data +// float* PosList = new float[nb]; + float* PosList = new float[nb+1]; + + // 1) Build main list using the primary axis + for(udword i=0;i<nb;i++) PosList[i] = array[i]->GetMin(Axis0); +PosList[nb++] = MAX_FLOAT; + + // 2) Sort the list + PRUNING_SORTER* RS = GetCompletePruningSorter(); + const udword* Sorted = RS->Sort(PosList, nb).GetRanks(); + + // 3) Prune the list + const udword* const LastSorted = &Sorted[nb]; + const udword* RunningAddress = Sorted; + udword Index0, Index1; + while(RunningAddress<LastSorted && Sorted<LastSorted) + { + Index0 = *Sorted++; + +// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]); + while(PosList[*RunningAddress++]<PosList[Index0]); + + if(RunningAddress<LastSorted) + { + const udword* RunningAddress2 = RunningAddress; + +// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0)) + while(PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0)) + { +// if(Index0!=Index1) +// { + if(array[Index0]->Intersect(*array[Index1], Axis1)) + { + if(array[Index0]->Intersect(*array[Index1], Axis2)) + { + pairs.AddPair(Index0, Index1); + } + } +// } + } + } + } + + DELETEARRAY(PosList); +#endif + +#ifdef JOAKIM + // Allocate some temporary data +// float* PosList = new float[nb]; + float* MinList = new float[nb+1]; + + // 1) Build main list using the primary axis + for(udword i=0;i<nb;i++) MinList[i] = array[i]->GetMin(Axis0); + MinList[nb] = MAX_FLOAT; + + // 2) Sort the list + PRUNING_SORTER* RS = GetCompletePruningSorter(); + udword* Sorted = RS->Sort(MinList, nb+1).GetRanks(); + + // 3) Prune the list +// const udword* const LastSorted = &Sorted[nb]; +// const udword* const LastSorted = &Sorted[nb-1]; + const udword* RunningAddress = Sorted; + udword Index0, Index1; + +// while(RunningAddress<LastSorted && Sorted<LastSorted) +// while(RunningAddress<LastSorted) + while(RunningAddress<&Sorted[nb]) +// while(Sorted<LastSorted) + { +// Index0 = *Sorted++; + Index0 = *RunningAddress++; + +// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]); +// while(PosList[*RunningAddress++]<PosList[Index0]); +//RunningAddress = Sorted; +// if(RunningAddress<LastSorted) + { + const udword* RunningAddress2 = RunningAddress; + +// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0)) + +// float CurrentMin = array[Index0]->GetMin(Axis0); + float CurrentMax = array[Index0]->GetMax(Axis0); + + while(MinList[Index1 = *RunningAddress2] <= CurrentMax) +// while(PosList[Index1 = *RunningAddress] <= CurrentMax) + { +// if(Index0!=Index1) +// { + if(array[Index0]->Intersect(*array[Index1], Axis1)) + { + if(array[Index0]->Intersect(*array[Index1], Axis2)) + { + pairs.AddPair(Index0, Index1); + } + } +// } + + RunningAddress2++; +// RunningAddress++; + } + } + } + + DELETEARRAY(MinList); +#endif + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Brute-force versions are kept: +// - to check the optimized versions return the correct list of intersections +// - to check the speed of the optimized code against the brute-force one +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Brute-force bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. + * \param nb0 [in] number of boxes in the first set + * \param array0 [in] array of boxes for the first set + * \param nb1 [in] number of boxes in the second set + * \param array1 [in] array of boxes for the second set + * \param pairs [out] array of overlapping pairs + * \return true if success. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Opcode::BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs) +{ + // Checkings + if(!nb0 || !array0 || !nb1 || !array1) return false; + + // Brute-force nb0*nb1 overlap tests + for(udword i=0;i<nb0;i++) + { + for(udword j=0;j<nb1;j++) + { + if(array0[i]->Intersect(*array1[j])) pairs.AddPair(i, j); + } + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. + * \param nb [in] number of boxes + * \param array [in] array of boxes + * \param pairs [out] array of overlapping pairs + * \return true if success. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Opcode::BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs) +{ + // Checkings + if(!nb || !array) return false; + + // Brute-force n(n-1)/2 overlap tests + for(udword i=0;i<nb;i++) + { + for(udword j=i+1;j<nb;j++) + { + if(array[i]->Intersect(*array[j])) pairs.AddPair(i, j); + } + } + return true; +} diff --git a/Opcode/OPC_BoxPruning.h b/Opcode/OPC_BoxPruning.h index ef65c80..b431946 100644 --- a/Opcode/OPC_BoxPruning.h +++ b/Opcode/OPC_BoxPruning.h @@ -1,31 +1,31 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for box pruning.
- * \file IceBoxPruning.h
- * \author Pierre Terdiman
- * \date January, 29, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_BOXPRUNING_H__
-#define __OPC_BOXPRUNING_H__
-
- // Optimized versions
- FUNCTION OPCODE_API bool CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes);
- FUNCTION OPCODE_API bool BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes);
-
- // Brute-force versions
- FUNCTION OPCODE_API bool BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs);
- FUNCTION OPCODE_API bool BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs);
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for box pruning. + * \file IceBoxPruning.h + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_BOXPRUNING_H__ +#define __OPC_BOXPRUNING_H__ + + // Optimized versions + FUNCTION OPCODE_API bool CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes); + FUNCTION OPCODE_API bool BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes); + + // Brute-force versions + FUNCTION OPCODE_API bool BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs); + FUNCTION OPCODE_API bool BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs); + #endif //__OPC_BOXPRUNING_H__
\ No newline at end of file diff --git a/Opcode/OPC_Collider.cpp b/Opcode/OPC_Collider.cpp index a6685be..c352618 100644 --- a/Opcode/OPC_Collider.cpp +++ b/Opcode/OPC_Collider.cpp @@ -1,54 +1,54 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains base collider class.
- * \file OPC_Collider.cpp
- * \author Pierre Terdiman
- * \date June, 2, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains the abstract class for colliders.
- *
- * \class Collider
- * \author Pierre Terdiman
- * \version 1.3
- * \date June, 2, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Collider::Collider() :
- mFlags (0),
- mCurrentModel (null),
- mIMesh (null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Collider::~Collider()
-{
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base collider class. + * \file OPC_Collider.cpp + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains the abstract class for colliders. + * + * \class Collider + * \author Pierre Terdiman + * \version 1.3 + * \date June, 2, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Collider::Collider() : + mFlags (0), + mCurrentModel (null), + mIMesh (null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Collider::~Collider() +{ +} diff --git a/Opcode/OPC_Collider.h b/Opcode/OPC_Collider.h index 4495093..d718e02 100644 --- a/Opcode/OPC_Collider.h +++ b/Opcode/OPC_Collider.h @@ -1,176 +1,176 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains base collider class.
- * \file OPC_Collider.h
- * \author Pierre Terdiman
- * \date June, 2, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_COLLIDER_H__
-#define __OPC_COLLIDER_H__
-
- enum CollisionFlag
- {
- OPC_FIRST_CONTACT = (1<<0), //!< Report all contacts (false) or only first one (true)
- OPC_TEMPORAL_COHERENCE = (1<<1), //!< Use temporal coherence or not
- OPC_CONTACT = (1<<2), //!< Final contact status after a collision query
- OPC_TEMPORAL_HIT = (1<<3), //!< There has been an early exit due to temporal coherence
- OPC_NO_PRIMITIVE_TESTS = (1<<4), //!< Keep or discard primitive-bv tests in leaf nodes (volume-mesh queries)
-
- OPC_CONTACT_FOUND = OPC_FIRST_CONTACT | OPC_CONTACT,
- OPC_TEMPORAL_CONTACT = OPC_TEMPORAL_HIT | OPC_CONTACT,
-
- OPC_FORCE_DWORD = 0x7fffffff
- };
-
- class OPCODE_API Collider
- {
- public:
- // Constructor / Destructor
- Collider();
- virtual ~Collider();
-
- // Collision report
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the last collision status after a collision query.
- * \return true if a collision occured
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL GetContactStatus() const { return mFlags & OPC_CONTACT; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the "first contact" mode.
- * \return true if "first contact" mode is on
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL FirstContactEnabled() const { return mFlags & OPC_FIRST_CONTACT; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the temporal coherence mode.
- * \return true if temporal coherence is on
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL TemporalCoherenceEnabled() const { return mFlags & OPC_TEMPORAL_COHERENCE; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks a first contact has already been found.
- * \return true if a first contact has been found and we can stop a query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL ContactFound() const { return (mFlags&OPC_CONTACT_FOUND)==OPC_CONTACT_FOUND; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks there's been an early exit due to temporal coherence;
- * \return true if a temporal hit has occured
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL TemporalHit() const { return mFlags & OPC_TEMPORAL_HIT; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks primitive tests are enabled;
- * \return true if primitive tests must be skipped
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL SkipPrimitiveTests() const { return mFlags & OPC_NO_PRIMITIVE_TESTS; }
-
- // Settings
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Reports all contacts (false) or first contact only (true)
- * \param flag [in] true for first contact, false for all contacts
- * \see SetTemporalCoherence(bool flag)
- * \see ValidateSettings()
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetFirstContact(bool flag)
- {
- if(flag) mFlags |= OPC_FIRST_CONTACT;
- else mFlags &= ~OPC_FIRST_CONTACT;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Enable/disable temporal coherence.
- * \param flag [in] true to enable temporal coherence, false to discard it
- * \see SetFirstContact(bool flag)
- * \see ValidateSettings()
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetTemporalCoherence(bool flag)
- {
- if(flag) mFlags |= OPC_TEMPORAL_COHERENCE;
- else mFlags &= ~OPC_TEMPORAL_COHERENCE;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Enable/disable primitive tests.
- * \param flag [in] true to enable primitive tests, false to discard them
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetPrimitiveTests(bool flag)
- {
- if(!flag) mFlags |= OPC_NO_PRIMITIVE_TESTS;
- else mFlags &= ~OPC_NO_PRIMITIVE_TESTS;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider.
- * \return null if everything is ok, else a string describing the problem
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual const char* ValidateSettings() = 0;
-
- protected:
- udword mFlags; //!< Bit flags
- const BaseModel* mCurrentModel; //!< Current model for collision query (owner of touched faces)
- // User mesh interface
- const MeshInterface* mIMesh; //!< User-defined mesh interface
-
- // Internal methods
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups current collision model
- * \param model [in] current collision model
- * \return TRUE if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL Setup(const BaseModel* model)
- {
- // Keep track of current model
- mCurrentModel = model;
- if(!mCurrentModel) return FALSE;
-
- mIMesh = model->GetMeshInterface();
- return mIMesh!=null;
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Initializes a query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual inline_ void InitQuery() { mFlags &= ~OPC_TEMPORAL_CONTACT; }
- };
-
-#endif // __OPC_COLLIDER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base collider class. + * \file OPC_Collider.h + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_COLLIDER_H__ +#define __OPC_COLLIDER_H__ + + enum CollisionFlag + { + OPC_FIRST_CONTACT = (1<<0), //!< Report all contacts (false) or only first one (true) + OPC_TEMPORAL_COHERENCE = (1<<1), //!< Use temporal coherence or not + OPC_CONTACT = (1<<2), //!< Final contact status after a collision query + OPC_TEMPORAL_HIT = (1<<3), //!< There has been an early exit due to temporal coherence + OPC_NO_PRIMITIVE_TESTS = (1<<4), //!< Keep or discard primitive-bv tests in leaf nodes (volume-mesh queries) + + OPC_CONTACT_FOUND = OPC_FIRST_CONTACT | OPC_CONTACT, + OPC_TEMPORAL_CONTACT = OPC_TEMPORAL_HIT | OPC_CONTACT, + + OPC_FORCE_DWORD = 0x7fffffff + }; + + class OPCODE_API Collider + { + public: + // Constructor / Destructor + Collider(); + virtual ~Collider(); + + // Collision report + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the last collision status after a collision query. + * \return true if a collision occured + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL GetContactStatus() const { return mFlags & OPC_CONTACT; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the "first contact" mode. + * \return true if "first contact" mode is on + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL FirstContactEnabled() const { return mFlags & OPC_FIRST_CONTACT; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the temporal coherence mode. + * \return true if temporal coherence is on + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL TemporalCoherenceEnabled() const { return mFlags & OPC_TEMPORAL_COHERENCE; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks a first contact has already been found. + * \return true if a first contact has been found and we can stop a query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL ContactFound() const { return (mFlags&OPC_CONTACT_FOUND)==OPC_CONTACT_FOUND; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks there's been an early exit due to temporal coherence; + * \return true if a temporal hit has occured + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL TemporalHit() const { return mFlags & OPC_TEMPORAL_HIT; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks primitive tests are enabled; + * \return true if primitive tests must be skipped + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL SkipPrimitiveTests() const { return mFlags & OPC_NO_PRIMITIVE_TESTS; } + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Reports all contacts (false) or first contact only (true) + * \param flag [in] true for first contact, false for all contacts + * \see SetTemporalCoherence(bool flag) + * \see ValidateSettings() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetFirstContact(bool flag) + { + if(flag) mFlags |= OPC_FIRST_CONTACT; + else mFlags &= ~OPC_FIRST_CONTACT; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Enable/disable temporal coherence. + * \param flag [in] true to enable temporal coherence, false to discard it + * \see SetFirstContact(bool flag) + * \see ValidateSettings() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetTemporalCoherence(bool flag) + { + if(flag) mFlags |= OPC_TEMPORAL_COHERENCE; + else mFlags &= ~OPC_TEMPORAL_COHERENCE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Enable/disable primitive tests. + * \param flag [in] true to enable primitive tests, false to discard them + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetPrimitiveTests(bool flag) + { + if(!flag) mFlags |= OPC_NO_PRIMITIVE_TESTS; + else mFlags &= ~OPC_NO_PRIMITIVE_TESTS; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual const char* ValidateSettings() = 0; + + protected: + udword mFlags; //!< Bit flags + const BaseModel* mCurrentModel; //!< Current model for collision query (owner of touched faces) + // User mesh interface + const MeshInterface* mIMesh; //!< User-defined mesh interface + + // Internal methods + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups current collision model + * \param model [in] current collision model + * \return TRUE if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Setup(const BaseModel* model) + { + // Keep track of current model + mCurrentModel = model; + if(!mCurrentModel) return FALSE; + + mIMesh = model->GetMeshInterface(); + return mIMesh!=null; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Initializes a query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual inline_ void InitQuery() { mFlags &= ~OPC_TEMPORAL_CONTACT; } + }; + +#endif // __OPC_COLLIDER_H__ diff --git a/Opcode/OPC_Common.cpp b/Opcode/OPC_Common.cpp index c6b4259..6bd9722 100644 --- a/Opcode/OPC_Common.cpp +++ b/Opcode/OPC_Common.cpp @@ -1,48 +1,48 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains common classes & defs used in OPCODE.
- * \file OPC_Common.cpp
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * An AABB dedicated to collision detection.
- * We don't use the generic AABB class included in ICE, since it can be a Min/Max or a Center/Extents one (depends
- * on compilation flags). Since the Center/Extents model is more efficient in collision detection, it was worth
- * using an extra special class.
- *
- * \class CollisionAABB
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * A quantized AABB.
- * Center/Extent model, using 16-bits integers.
- *
- * \class QuantizedAABB
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains common classes & defs used in OPCODE. + * \file OPC_Common.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * An AABB dedicated to collision detection. + * We don't use the generic AABB class included in ICE, since it can be a Min/Max or a Center/Extents one (depends + * on compilation flags). Since the Center/Extents model is more efficient in collision detection, it was worth + * using an extra special class. + * + * \class CollisionAABB + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A quantized AABB. + * Center/Extent model, using 16-bits integers. + * + * \class QuantizedAABB + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; diff --git a/Opcode/OPC_Common.h b/Opcode/OPC_Common.h index cc14e96..84ccf8d 100644 --- a/Opcode/OPC_Common.h +++ b/Opcode/OPC_Common.h @@ -1,101 +1,101 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains common classes & defs used in OPCODE.
- * \file OPC_Common.h
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_COMMON_H__
-#define __OPC_COMMON_H__
-
-// [GOTTFRIED]: Just a small change for readability.
-#ifdef OPC_CPU_COMPARE
- #define GREATER(x, y) AIR(x) > IR(y)
-#else
- #define GREATER(x, y) fabsf(x) > (y)
-#endif
-
- class OPCODE_API CollisionAABB
- {
- public:
- //! Constructor
- inline_ CollisionAABB() {}
- //! Constructor
- inline_ CollisionAABB(const AABB& b) { b.GetCenter(mCenter); b.GetExtents(mExtents); }
- //! Destructor
- inline_ ~CollisionAABB() {}
-
- //! Get min IcePoint of the box
- inline_ void GetMin(IcePoint& min) const { min = mCenter - mExtents; }
- //! Get max IcePoint of the box
- inline_ void GetMax(IcePoint& max) const { max = mCenter + mExtents; }
-
- //! Get component of the box's min IcePoint along a given axis
- inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; }
- //! Get component of the box's max IcePoint along a given axis
- inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Setups an AABB from min & max vectors.
- * \param min [in] the min IcePoint
- * \param max [in] the max IcePoint
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetMinMax(const IcePoint& min, const IcePoint& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks a box is inside another box.
- * \param box [in] the other box
- * \return true if current box is inside input box
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ BOOL IsInside(const CollisionAABB& box) const
- {
- if(box.GetMin(0)>GetMin(0)) return FALSE;
- if(box.GetMin(1)>GetMin(1)) return FALSE;
- if(box.GetMin(2)>GetMin(2)) return FALSE;
- if(box.GetMax(0)<GetMax(0)) return FALSE;
- if(box.GetMax(1)<GetMax(1)) return FALSE;
- if(box.GetMax(2)<GetMax(2)) return FALSE;
- return TRUE;
- }
-
- IcePoint mCenter; //!< Box center
- IcePoint mExtents; //!< Box extents
- };
-
- class OPCODE_API QuantizedAABB
- {
- public:
- //! Constructor
- inline_ QuantizedAABB() {}
- //! Destructor
- inline_ ~QuantizedAABB() {}
-
- sword mCenter[3]; //!< Quantized center
- uword mExtents[3]; //!< Quantized extents
- };
-
- //! Quickly rotates & translates a vector
- inline_ void TransformPoint(IcePoint& dest, const IcePoint& source, const Matrix3x3& rot, const IcePoint& trans)
- {
- dest.x = trans.x + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0];
- dest.y = trans.y + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1];
- dest.z = trans.z + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2];
- }
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains common classes & defs used in OPCODE. + * \file OPC_Common.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_COMMON_H__ +#define __OPC_COMMON_H__ + +// [GOTTFRIED]: Just a small change for readability. +#ifdef OPC_CPU_COMPARE + #define GREATER(x, y) AIR(x) > IR(y) +#else + #define GREATER(x, y) fabsf(x) > (y) +#endif + + class OPCODE_API CollisionAABB + { + public: + //! Constructor + inline_ CollisionAABB() {} + //! Constructor + inline_ CollisionAABB(const AABB& b) { b.GetCenter(mCenter); b.GetExtents(mExtents); } + //! Destructor + inline_ ~CollisionAABB() {} + + //! Get min IcePoint of the box + inline_ void GetMin(IcePoint& min) const { min = mCenter - mExtents; } + //! Get max IcePoint of the box + inline_ void GetMax(IcePoint& max) const { max = mCenter + mExtents; } + + //! Get component of the box's min IcePoint along a given axis + inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; } + //! Get component of the box's max IcePoint along a given axis + inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from min & max vectors. + * \param min [in] the min IcePoint + * \param max [in] the max IcePoint + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetMinMax(const IcePoint& min, const IcePoint& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks a box is inside another box. + * \param box [in] the other box + * \return true if current box is inside input box + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsInside(const CollisionAABB& box) const + { + if(box.GetMin(0)>GetMin(0)) return FALSE; + if(box.GetMin(1)>GetMin(1)) return FALSE; + if(box.GetMin(2)>GetMin(2)) return FALSE; + if(box.GetMax(0)<GetMax(0)) return FALSE; + if(box.GetMax(1)<GetMax(1)) return FALSE; + if(box.GetMax(2)<GetMax(2)) return FALSE; + return TRUE; + } + + IcePoint mCenter; //!< Box center + IcePoint mExtents; //!< Box extents + }; + + class OPCODE_API QuantizedAABB + { + public: + //! Constructor + inline_ QuantizedAABB() {} + //! Destructor + inline_ ~QuantizedAABB() {} + + sword mCenter[3]; //!< Quantized center + uword mExtents[3]; //!< Quantized extents + }; + + //! Quickly rotates & translates a vector + inline_ void TransformPoint(IcePoint& dest, const IcePoint& source, const Matrix3x3& rot, const IcePoint& trans) + { + dest.x = trans.x + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; + dest.y = trans.y + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; + dest.z = trans.z + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; + } + #endif //__OPC_COMMON_H__
\ No newline at end of file diff --git a/Opcode/OPC_HybridModel.cpp b/Opcode/OPC_HybridModel.cpp index a43b5d2..52e650e 100644 --- a/Opcode/OPC_HybridModel.cpp +++ b/Opcode/OPC_HybridModel.cpp @@ -1,466 +1,466 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for hybrid models.
- * \file OPC_HybridModel.cpp
- * \author Pierre Terdiman
- * \date May, 18, 2003
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * An hybrid collision model.
- *
- * The problem :
- *
- * Opcode really shines for mesh-mesh collision, especially when meshes are deeply overlapping
- * (it typically outperforms RAPID in those cases).
- *
- * Unfortunately this is not the typical scenario in games.
- *
- * For close-proximity cases, especially for volume-mesh queries, it's relatively easy to run faster
- * than Opcode, that suffers from a relatively high setup time.
- *
- * In particular, Opcode's "vanilla" trees in those cases -can- run faster. They can also use -less-
- * memory than the optimized ones, when you let the system stop at ~10 triangles / leaf for example
- * (i.e. when you don't use "complete" trees). However, those trees tend to fragment memory quite a
- * lot, increasing cache misses : since they're not "complete", we can't predict the final number of
- * nodes and we have to allocate nodes on-the-fly. For the same reasons we can't use Opcode's "optimized"
- * trees here, since they rely on a known layout to perform the "optimization".
- *
- * Hybrid trees :
- *
- * Hybrid trees try to combine best of both worlds :
- *
- * - they use a maximum limit of 16 triangles/leaf. "16" is used so that we'll be able to save the
- * number of triangles using 4 bits only.
- *
- * - they're still "complete" trees thanks to a two-passes building phase. First we create a "vanilla"
- * AABB-tree with Opcode, limited to 16 triangles/leaf. Then we create a *second* vanilla tree, this
- * time using the leaves of the first one. The trick is : this second tree is now "complete"... so we
- * can further transform it into an Opcode's optimized tree.
- *
- * - then we run the collision queries on that standard Opcode tree. The only difference is that leaf
- * nodes contain indices to leaf nodes of another tree. Also, we have to skip all primitive tests in
- * Opcode optimized trees, since our leaves don't contain triangles anymore.
- *
- * - finally, for each collided leaf, we simply loop through 16 triangles max, and collide them with
- * the bounding volume used in the query (we only support volume-vs-mesh queries here, not mesh-vs-mesh)
- *
- * All of that is wrapped in this "hybrid model" that contains the minimal data required for this to work.
- * It's a mix between old "vanilla" trees, and old "optimized" trees.
- *
- * Extra advantages:
- *
- * - If we use them for dynamic models, we're left with a very small number of leaf nodes to refit. It
- * might be a bit faster since we have less nodes to write back.
- *
- * - In rigid body simulation, using temporal coherence and sleeping objects greatly reduce the actual
- * influence of one tree over another (i.e. the speed difference is often invisible). So memory is really
- * the key element to consider, and in this regard hybrid trees are just better.
- *
- * Information to take home:
- * - they use less ram
- * - they're not slower (they're faster or slower depending on cases, overall there's no significant
- * difference *as long as objects don't interpenetrate too much* - in which case Opcode's optimized trees
- * are still notably faster)
- *
- * \class HybridModel
- * \author Pierre Terdiman
- * \version 1.3
- * \date May, 18, 2003
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridModel::HybridModel() :
- mNbLeaves (0),
- mNbPrimitives (0),
- mTriangles (null),
- mIndices (null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridModel::~HybridModel()
-{
- Release();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Releases everything.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void HybridModel::Release()
-{
- ReleaseBase();
- DELETEARRAY(mIndices);
- DELETEARRAY(mTriangles);
- mNbLeaves = 0;
- mNbPrimitives = 0;
-}
-
- struct Internal
- {
- Internal()
- {
- mNbLeaves = 0;
- mLeaves = null;
- mTriangles = null;
- mBase = null;
- }
- ~Internal()
- {
- DELETEARRAY(mLeaves);
- }
-
- udword mNbLeaves;
- AABB* mLeaves;
- LeafTriangles* mTriangles;
- const udword* mBase;
- };
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds a collision model.
- * \param create [in] model creation structure
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool HybridModel::Build(const OPCODECREATE& create)
-{
- // 1) Checkings
- if(!create.mIMesh || !create.mIMesh->IsValid()) return false;
-
- // Look for degenerate faces.
- udword NbDegenerate = create.mIMesh->CheckTopology();
- if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate);
- // We continue nonetheless....
-
- Release(); // Make sure previous tree has been discarded
-
- // 1-1) Setup mesh interface automatically
- SetMeshInterface(create.mIMesh);
-
- bool Status = false;
- AABBTree* LeafTree = null;
- Internal Data;
-
- // 2) Build a generic AABB Tree.
- mSource = new AABBTree;
- CHECKALLOC(mSource);
-
- // 2-1) Setup a builder. Our primitives here are triangles from input mesh,
- // so we use an AABBTreeOfTrianglesBuilder.....
- {
- AABBTreeOfTrianglesBuilder TB;
- TB.mIMesh = create.mIMesh;
- TB.mNbPrimitives = create.mIMesh->GetNbTriangles();
- TB.mSettings = create.mSettings;
- TB.mSettings.mLimit = 16; // ### Hardcoded, but maybe we could let the user choose 8 / 16 / 32 ...
- if(!mSource->Build(&TB)) goto FreeAndExit;
- }
-
- // 2-2) Here's the trick : create *another* AABB tree using the leaves of the first one (which are boxes, this time)
- struct Local
- {
- // A callback to count leaf nodes
- static bool CountLeaves(const AABBTreeNode* current, udword depth, void* user_data)
- {
- if(current->IsLeaf())
- {
- Internal* Data = (Internal*)user_data;
- Data->mNbLeaves++;
- }
- return true;
- }
-
- // A callback to setup leaf nodes in our internal structures
- static bool SetupLeafData(const AABBTreeNode* current, udword depth, void* user_data)
- {
- if(current->IsLeaf())
- {
- Internal* Data = (Internal*)user_data;
-
- // Get current leaf's box
- Data->mLeaves[Data->mNbLeaves] = *current->GetAABB();
-
- // Setup leaf data
- udword Index = (udword(current->GetPrimitives()) - udword(Data->mBase))/sizeof(udword);
- Data->mTriangles[Data->mNbLeaves].SetData(current->GetNbPrimitives(), Index);
-
- Data->mNbLeaves++;
- }
- return true;
- }
- };
-
- // Walk the tree & count number of leaves
- Data.mNbLeaves = 0;
- mSource->Walk(Local::CountLeaves, &Data);
- mNbLeaves = Data.mNbLeaves; // Keep track of it
-
- // Special case for 1-leaf meshes
- if(mNbLeaves==1)
- {
- mModelCode |= OPC_SINGLE_NODE;
- Status = true;
- goto FreeAndExit;
- }
-
- // Allocate our structures
- Data.mLeaves = new AABB[Data.mNbLeaves]; CHECKALLOC(Data.mLeaves);
- mTriangles = new LeafTriangles[Data.mNbLeaves]; CHECKALLOC(mTriangles);
-
- // Walk the tree again & setup leaf data
- Data.mTriangles = mTriangles;
- Data.mBase = mSource->GetIndices();
- Data.mNbLeaves = 0; // Reset for incoming walk
- mSource->Walk(Local::SetupLeafData, &Data);
-
- // Handle source indices
- {
- bool MustKeepIndices = true;
- if(create.mCanRemap)
- {
- // We try to get rid of source indices (saving more ram!) by reorganizing triangle arrays...
- // Remap can fail when we use callbacks => keep track of indices in that case (it still
- // works, only using more memory)
- if(create.mIMesh->RemapClient(mSource->GetNbPrimitives(), mSource->GetIndices()))
- {
- MustKeepIndices = false;
- }
- }
-
- if(MustKeepIndices)
- {
- // Keep track of source indices (from vanilla tree)
- mNbPrimitives = mSource->GetNbPrimitives();
- mIndices = new udword[mNbPrimitives];
- CopyMemory(mIndices, mSource->GetIndices(), mNbPrimitives*sizeof(udword));
- }
- }
-
- // Now, create our optimized tree using previous leaf nodes
- LeafTree = new AABBTree;
- CHECKALLOC(LeafTree);
- {
- AABBTreeOfAABBsBuilder TB; // Now using boxes !
- TB.mSettings = create.mSettings;
- TB.mSettings.mLimit = 1; // We now want a complete tree so that we can "optimize" it
- TB.mNbPrimitives = Data.mNbLeaves;
- TB.mAABBArray = Data.mLeaves;
- if(!LeafTree->Build(&TB)) goto FreeAndExit;
- }
-
- // 3) Create an optimized tree according to user-settings
- if(!CreateTree(create.mNoLeaf, create.mQuantized)) goto FreeAndExit;
-
- // 3-2) Create optimized tree
- if(!mTree->Build(LeafTree)) goto FreeAndExit;
-
- // Finally ok...
- Status = true;
-
-FreeAndExit: // Allow me this one...
- DELETESINGLE(LeafTree);
-
- // 3-3) Delete generic tree if needed
- if(!create.mKeepOriginal) DELETESINGLE(mSource);
-
- return Status;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets the number of bytes used by the tree.
- * \return amount of bytes used
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword HybridModel::GetUsedBytes() const
-{
- udword UsedBytes = 0;
- if(mTree) UsedBytes += mTree->GetUsedBytes();
- if(mIndices) UsedBytes += mNbPrimitives * sizeof(udword); // mIndices
- if(mTriangles) UsedBytes += mNbLeaves * sizeof(LeafTriangles); // mTriangles
- return UsedBytes;
-}
-
-inline_ void ComputeMinMax(IcePoint& min, IcePoint& max, const VertexPointers& vp)
-{
- // Compute triangle's AABB = a leaf box
-#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much
- min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x);
- max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x);
-
- min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y);
- max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y);
-
- min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z);
- max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z);
-#else
- min = *vp.Vertex[0];
- max = *vp.Vertex[0];
- min.Min(*vp.Vertex[1]);
- max.Max(*vp.Vertex[1]);
- min.Min(*vp.Vertex[2]);
- max.Max(*vp.Vertex[2]);
-#endif
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the collision model. This can be used to handle dynamic meshes. Usage is:
- * 1. modify your mesh vertices (keep the topology constant!)
- * 2. refit the tree (call this method)
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool HybridModel::Refit()
-{
- if(!mIMesh) return false;
- if(!mTree) return false;
-
- if(IsQuantized()) return false;
- if(HasLeafNodes()) return false;
-
- const LeafTriangles* LT = GetLeafTriangles();
- const udword* Indices = GetIndices();
-
- // Bottom-up update
- VertexPointers VP;
- IcePoint Min,Max;
- IcePoint Min_,Max_;
- udword Index = mTree->GetNbNodes();
- AABBNoLeafNode* Nodes = (AABBNoLeafNode*)((AABBNoLeafTree*)mTree)->GetNodes();
- while(Index--)
- {
- AABBNoLeafNode& Current = Nodes[Index];
-
- if(Current.HasPosLeaf())
- {
- const LeafTriangles& CurrentLeaf = LT[Current.GetPosPrimitive()];
-
- Min.SetPlusInfinity();
- Max.SetMinusInfinity();
-
- IcePoint TmpMin, TmpMax;
-
- // 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--)
- {
- mIMesh->GetTriangle(VP, *T++);
- ComputeMinMax(TmpMin, TmpMax, VP);
- Min.Min(TmpMin);
- Max.Max(TmpMax);
- }
- }
- else
- {
- udword BaseIndex = CurrentLeaf.GetTriangleIndex();
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- mIMesh->GetTriangle(VP, BaseIndex++);
- ComputeMinMax(TmpMin, TmpMax, VP);
- Min.Min(TmpMin);
- Max.Max(TmpMax);
- }
- }
- }
- else
- {
- const CollisionAABB& CurrentBox = Current.GetPos()->mAABB;
- CurrentBox.GetMin(Min);
- CurrentBox.GetMax(Max);
- }
-
- if(Current.HasNegLeaf())
- {
- const LeafTriangles& CurrentLeaf = LT[Current.GetNegPrimitive()];
-
- Min_.SetPlusInfinity();
- Max_.SetMinusInfinity();
-
- IcePoint TmpMin, TmpMax;
-
- // 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--)
- {
- mIMesh->GetTriangle(VP, *T++);
- ComputeMinMax(TmpMin, TmpMax, VP);
- Min_.Min(TmpMin);
- Max_.Max(TmpMax);
- }
- }
- else
- {
- udword BaseIndex = CurrentLeaf.GetTriangleIndex();
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- mIMesh->GetTriangle(VP, BaseIndex++);
- ComputeMinMax(TmpMin, TmpMax, VP);
- Min_.Min(TmpMin);
- Max_.Max(TmpMax);
- }
- }
- }
- else
- {
- const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB;
- CurrentBox.GetMin(Min_);
- CurrentBox.GetMax(Max_);
- }
-#ifdef OPC_USE_FCOMI
- Min.x = FCMin2(Min.x, Min_.x);
- Max.x = FCMax2(Max.x, Max_.x);
- Min.y = FCMin2(Min.y, Min_.y);
- Max.y = FCMax2(Max.y, Max_.y);
- Min.z = FCMin2(Min.z, Min_.z);
- Max.z = FCMax2(Max.z, Max_.z);
-#else
- Min.Min(Min_);
- Max.Max(Max_);
-#endif
- Current.mAABB.SetMinMax(Min, Max);
- }
- return true;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for hybrid models. + * \file OPC_HybridModel.cpp + * \author Pierre Terdiman + * \date May, 18, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * An hybrid collision model. + * + * The problem : + * + * Opcode really shines for mesh-mesh collision, especially when meshes are deeply overlapping + * (it typically outperforms RAPID in those cases). + * + * Unfortunately this is not the typical scenario in games. + * + * For close-proximity cases, especially for volume-mesh queries, it's relatively easy to run faster + * than Opcode, that suffers from a relatively high setup time. + * + * In particular, Opcode's "vanilla" trees in those cases -can- run faster. They can also use -less- + * memory than the optimized ones, when you let the system stop at ~10 triangles / leaf for example + * (i.e. when you don't use "complete" trees). However, those trees tend to fragment memory quite a + * lot, increasing cache misses : since they're not "complete", we can't predict the final number of + * nodes and we have to allocate nodes on-the-fly. For the same reasons we can't use Opcode's "optimized" + * trees here, since they rely on a known layout to perform the "optimization". + * + * Hybrid trees : + * + * Hybrid trees try to combine best of both worlds : + * + * - they use a maximum limit of 16 triangles/leaf. "16" is used so that we'll be able to save the + * number of triangles using 4 bits only. + * + * - they're still "complete" trees thanks to a two-passes building phase. First we create a "vanilla" + * AABB-tree with Opcode, limited to 16 triangles/leaf. Then we create a *second* vanilla tree, this + * time using the leaves of the first one. The trick is : this second tree is now "complete"... so we + * can further transform it into an Opcode's optimized tree. + * + * - then we run the collision queries on that standard Opcode tree. The only difference is that leaf + * nodes contain indices to leaf nodes of another tree. Also, we have to skip all primitive tests in + * Opcode optimized trees, since our leaves don't contain triangles anymore. + * + * - finally, for each collided leaf, we simply loop through 16 triangles max, and collide them with + * the bounding volume used in the query (we only support volume-vs-mesh queries here, not mesh-vs-mesh) + * + * All of that is wrapped in this "hybrid model" that contains the minimal data required for this to work. + * It's a mix between old "vanilla" trees, and old "optimized" trees. + * + * Extra advantages: + * + * - If we use them for dynamic models, we're left with a very small number of leaf nodes to refit. It + * might be a bit faster since we have less nodes to write back. + * + * - In rigid body simulation, using temporal coherence and sleeping objects greatly reduce the actual + * influence of one tree over another (i.e. the speed difference is often invisible). So memory is really + * the key element to consider, and in this regard hybrid trees are just better. + * + * Information to take home: + * - they use less ram + * - they're not slower (they're faster or slower depending on cases, overall there's no significant + * difference *as long as objects don't interpenetrate too much* - in which case Opcode's optimized trees + * are still notably faster) + * + * \class HybridModel + * \author Pierre Terdiman + * \version 1.3 + * \date May, 18, 2003 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridModel::HybridModel() : + mNbLeaves (0), + mNbPrimitives (0), + mTriangles (null), + mIndices (null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridModel::~HybridModel() +{ + Release(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Releases everything. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void HybridModel::Release() +{ + ReleaseBase(); + DELETEARRAY(mIndices); + DELETEARRAY(mTriangles); + mNbLeaves = 0; + mNbPrimitives = 0; +} + + struct Internal + { + Internal() + { + mNbLeaves = 0; + mLeaves = null; + mTriangles = null; + mBase = null; + } + ~Internal() + { + DELETEARRAY(mLeaves); + } + + udword mNbLeaves; + AABB* mLeaves; + LeafTriangles* mTriangles; + const udword* mBase; + }; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool HybridModel::Build(const OPCODECREATE& create) +{ + // 1) Checkings + if(!create.mIMesh || !create.mIMesh->IsValid()) return false; + + // Look for degenerate faces. + udword NbDegenerate = create.mIMesh->CheckTopology(); + if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate); + // We continue nonetheless.... + + Release(); // Make sure previous tree has been discarded + + // 1-1) Setup mesh interface automatically + SetMeshInterface(create.mIMesh); + + bool Status = false; + AABBTree* LeafTree = null; + Internal Data; + + // 2) Build a generic AABB Tree. + mSource = new AABBTree; + CHECKALLOC(mSource); + + // 2-1) Setup a builder. Our primitives here are triangles from input mesh, + // so we use an AABBTreeOfTrianglesBuilder..... + { + AABBTreeOfTrianglesBuilder TB; + TB.mIMesh = create.mIMesh; + TB.mNbPrimitives = create.mIMesh->GetNbTriangles(); + TB.mSettings = create.mSettings; + TB.mSettings.mLimit = 16; // ### Hardcoded, but maybe we could let the user choose 8 / 16 / 32 ... + if(!mSource->Build(&TB)) goto FreeAndExit; + } + + // 2-2) Here's the trick : create *another* AABB tree using the leaves of the first one (which are boxes, this time) + struct Local + { + // A callback to count leaf nodes + static bool CountLeaves(const AABBTreeNode* current, udword depth, void* user_data) + { + if(current->IsLeaf()) + { + Internal* Data = (Internal*)user_data; + Data->mNbLeaves++; + } + return true; + } + + // A callback to setup leaf nodes in our internal structures + static bool SetupLeafData(const AABBTreeNode* current, udword depth, void* user_data) + { + if(current->IsLeaf()) + { + Internal* Data = (Internal*)user_data; + + // Get current leaf's box + Data->mLeaves[Data->mNbLeaves] = *current->GetAABB(); + + // Setup leaf data + udword Index = (udword(current->GetPrimitives()) - udword(Data->mBase))/sizeof(udword); + Data->mTriangles[Data->mNbLeaves].SetData(current->GetNbPrimitives(), Index); + + Data->mNbLeaves++; + } + return true; + } + }; + + // Walk the tree & count number of leaves + Data.mNbLeaves = 0; + mSource->Walk(Local::CountLeaves, &Data); + mNbLeaves = Data.mNbLeaves; // Keep track of it + + // Special case for 1-leaf meshes + if(mNbLeaves==1) + { + mModelCode |= OPC_SINGLE_NODE; + Status = true; + goto FreeAndExit; + } + + // Allocate our structures + Data.mLeaves = new AABB[Data.mNbLeaves]; CHECKALLOC(Data.mLeaves); + mTriangles = new LeafTriangles[Data.mNbLeaves]; CHECKALLOC(mTriangles); + + // Walk the tree again & setup leaf data + Data.mTriangles = mTriangles; + Data.mBase = mSource->GetIndices(); + Data.mNbLeaves = 0; // Reset for incoming walk + mSource->Walk(Local::SetupLeafData, &Data); + + // Handle source indices + { + bool MustKeepIndices = true; + if(create.mCanRemap) + { + // We try to get rid of source indices (saving more ram!) by reorganizing triangle arrays... + // Remap can fail when we use callbacks => keep track of indices in that case (it still + // works, only using more memory) + if(create.mIMesh->RemapClient(mSource->GetNbPrimitives(), mSource->GetIndices())) + { + MustKeepIndices = false; + } + } + + if(MustKeepIndices) + { + // Keep track of source indices (from vanilla tree) + mNbPrimitives = mSource->GetNbPrimitives(); + mIndices = new udword[mNbPrimitives]; + CopyMemory(mIndices, mSource->GetIndices(), mNbPrimitives*sizeof(udword)); + } + } + + // Now, create our optimized tree using previous leaf nodes + LeafTree = new AABBTree; + CHECKALLOC(LeafTree); + { + AABBTreeOfAABBsBuilder TB; // Now using boxes ! + TB.mSettings = create.mSettings; + TB.mSettings.mLimit = 1; // We now want a complete tree so that we can "optimize" it + TB.mNbPrimitives = Data.mNbLeaves; + TB.mAABBArray = Data.mLeaves; + if(!LeafTree->Build(&TB)) goto FreeAndExit; + } + + // 3) Create an optimized tree according to user-settings + if(!CreateTree(create.mNoLeaf, create.mQuantized)) goto FreeAndExit; + + // 3-2) Create optimized tree + if(!mTree->Build(LeafTree)) goto FreeAndExit; + + // Finally ok... + Status = true; + +FreeAndExit: // Allow me this one... + DELETESINGLE(LeafTree); + + // 3-3) Delete generic tree if needed + if(!create.mKeepOriginal) DELETESINGLE(mSource); + + return Status; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword HybridModel::GetUsedBytes() const +{ + udword UsedBytes = 0; + if(mTree) UsedBytes += mTree->GetUsedBytes(); + if(mIndices) UsedBytes += mNbPrimitives * sizeof(udword); // mIndices + if(mTriangles) UsedBytes += mNbLeaves * sizeof(LeafTriangles); // mTriangles + return UsedBytes; +} + +inline_ void ComputeMinMax(IcePoint& min, IcePoint& max, const VertexPointers& vp) +{ + // Compute triangle's AABB = a leaf box +#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much + min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); + max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); + + min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); + max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); + + min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); + max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); +#else + min = *vp.Vertex[0]; + max = *vp.Vertex[0]; + min.Min(*vp.Vertex[1]); + max.Max(*vp.Vertex[1]); + min.Min(*vp.Vertex[2]); + max.Max(*vp.Vertex[2]); +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision model. This can be used to handle dynamic meshes. Usage is: + * 1. modify your mesh vertices (keep the topology constant!) + * 2. refit the tree (call this method) + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool HybridModel::Refit() +{ + if(!mIMesh) return false; + if(!mTree) return false; + + if(IsQuantized()) return false; + if(HasLeafNodes()) return false; + + const LeafTriangles* LT = GetLeafTriangles(); + const udword* Indices = GetIndices(); + + // Bottom-up update + VertexPointers VP; + IcePoint Min,Max; + IcePoint Min_,Max_; + udword Index = mTree->GetNbNodes(); + AABBNoLeafNode* Nodes = (AABBNoLeafNode*)((AABBNoLeafTree*)mTree)->GetNodes(); + while(Index--) + { + AABBNoLeafNode& Current = Nodes[Index]; + + if(Current.HasPosLeaf()) + { + const LeafTriangles& CurrentLeaf = LT[Current.GetPosPrimitive()]; + + Min.SetPlusInfinity(); + Max.SetMinusInfinity(); + + IcePoint TmpMin, TmpMax; + + // 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--) + { + mIMesh->GetTriangle(VP, *T++); + ComputeMinMax(TmpMin, TmpMax, VP); + Min.Min(TmpMin); + Max.Max(TmpMax); + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + mIMesh->GetTriangle(VP, BaseIndex++); + ComputeMinMax(TmpMin, TmpMax, VP); + Min.Min(TmpMin); + Max.Max(TmpMax); + } + } + } + else + { + const CollisionAABB& CurrentBox = Current.GetPos()->mAABB; + CurrentBox.GetMin(Min); + CurrentBox.GetMax(Max); + } + + if(Current.HasNegLeaf()) + { + const LeafTriangles& CurrentLeaf = LT[Current.GetNegPrimitive()]; + + Min_.SetPlusInfinity(); + Max_.SetMinusInfinity(); + + IcePoint TmpMin, TmpMax; + + // 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--) + { + mIMesh->GetTriangle(VP, *T++); + ComputeMinMax(TmpMin, TmpMax, VP); + Min_.Min(TmpMin); + Max_.Max(TmpMax); + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + mIMesh->GetTriangle(VP, BaseIndex++); + ComputeMinMax(TmpMin, TmpMax, VP); + Min_.Min(TmpMin); + Max_.Max(TmpMax); + } + } + } + else + { + const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB; + CurrentBox.GetMin(Min_); + CurrentBox.GetMax(Max_); + } +#ifdef OPC_USE_FCOMI + Min.x = FCMin2(Min.x, Min_.x); + Max.x = FCMax2(Max.x, Max_.x); + Min.y = FCMin2(Min.y, Min_.y); + Max.y = FCMax2(Max.y, Max_.y); + Min.z = FCMin2(Min.z, Min_.z); + Max.z = FCMax2(Max.z, Max_.z); +#else + Min.Min(Min_); + Max.Max(Max_); +#endif + Current.mAABB.SetMinMax(Min, Max); + } + return true; +} diff --git a/Opcode/OPC_HybridModel.h b/Opcode/OPC_HybridModel.h index 7833a94..c7eb59d 100644 --- a/Opcode/OPC_HybridModel.h +++ b/Opcode/OPC_HybridModel.h @@ -1,106 +1,106 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for hybrid models.
- * \file OPC_HybridModel.h
- * \author Pierre Terdiman
- * \date May, 18, 2003
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_HYBRIDMODEL_H__
-#define __OPC_HYBRIDMODEL_H__
-
- //! Leaf descriptor
- struct LeafTriangles
- {
- udword Data; //!< Packed data
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets number of triangles in the leaf.
- * \return number of triangles N, with 0 < N <= 16
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbTriangles() const { return (Data & 15)+1; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets triangle index for this leaf. Indexed model's array of indices retrieved with HybridModel::GetIndices()
- * \return triangle index
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetTriangleIndex() const { return Data>>4; }
- inline_ void SetData(udword nb, udword index) { ASSERT(nb>0 && nb<=16); nb--; Data = (index<<4)|(nb&15); }
- };
-
- class OPCODE_API HybridModel : public BaseModel
- {
- public:
- // Constructor/Destructor
- HybridModel();
- virtual ~HybridModel();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Builds a collision model.
- * \param create [in] model creation structure
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(BaseModel) bool Build(const OPCODECREATE& create);
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the number of bytes used by the tree.
- * \return amount of bytes used
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(BaseModel) udword GetUsedBytes() const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Refits the collision model. This can be used to handle dynamic meshes. Usage is:
- * 1. modify your mesh vertices (keep the topology constant!)
- * 2. refit the tree (call this method)
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(BaseModel) bool Refit();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets array of triangles.
- * \return array of triangles
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ const LeafTriangles* GetLeafTriangles() const { return mTriangles; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets array of indices.
- * \return array of indices
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ const udword* GetIndices() const { return mIndices; }
-
- private:
- udword mNbLeaves; //!< Number of leaf nodes in the model
- LeafTriangles* mTriangles; //!< Array of mNbLeaves leaf descriptors
- udword mNbPrimitives; //!< Number of primitives in the model
- udword* mIndices; //!< Array of primitive indices
-
- // Internal methods
- void Release();
- };
-
-#endif // __OPC_HYBRIDMODEL_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for hybrid models. + * \file OPC_HybridModel.h + * \author Pierre Terdiman + * \date May, 18, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_HYBRIDMODEL_H__ +#define __OPC_HYBRIDMODEL_H__ + + //! Leaf descriptor + struct LeafTriangles + { + udword Data; //!< Packed data + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets number of triangles in the leaf. + * \return number of triangles N, with 0 < N <= 16 + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbTriangles() const { return (Data & 15)+1; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets triangle index for this leaf. Indexed model's array of indices retrieved with HybridModel::GetIndices() + * \return triangle index + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetTriangleIndex() const { return Data>>4; } + inline_ void SetData(udword nb, udword index) { ASSERT(nb>0 && nb<=16); nb--; Data = (index<<4)|(nb&15); } + }; + + class OPCODE_API HybridModel : public BaseModel + { + public: + // Constructor/Destructor + HybridModel(); + virtual ~HybridModel(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) bool Build(const OPCODECREATE& create); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) udword GetUsedBytes() const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Refits the collision model. This can be used to handle dynamic meshes. Usage is: + * 1. modify your mesh vertices (keep the topology constant!) + * 2. refit the tree (call this method) + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) bool Refit(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets array of triangles. + * \return array of triangles + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const LeafTriangles* GetLeafTriangles() const { return mTriangles; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets array of indices. + * \return array of indices + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const udword* GetIndices() const { return mIndices; } + + private: + udword mNbLeaves; //!< Number of leaf nodes in the model + LeafTriangles* mTriangles; //!< Array of mNbLeaves leaf descriptors + udword mNbPrimitives; //!< Number of primitives in the model + udword* mIndices; //!< Array of primitive indices + + // Internal methods + void Release(); + }; + +#endif // __OPC_HYBRIDMODEL_H__ diff --git a/Opcode/OPC_IceHook.h b/Opcode/OPC_IceHook.h index 12c882a..d33120b 100644 --- a/Opcode/OPC_IceHook.h +++ b/Opcode/OPC_IceHook.h @@ -1,70 +1,70 @@ -
-// Should be included by Opcode.h if needed
-
- #define ICE_DONT_CHECK_COMPILER_OPTIONS
-
- // From Windows...
- typedef int BOOL;
- #ifndef FALSE
- #define FALSE 0
- #endif
-
- #ifndef TRUE
- #define TRUE 1
- #endif
-
- #include <stdio.h>
- #include <stdlib.h>
- #include <assert.h>
- #include <string.h>
- #include <float.h>
- #include <math.h>
-
- #ifndef ASSERT
- #define ASSERT(exp) {}
- #endif
- #define ICE_COMPILE_TIME_ASSERT(exp) extern char ICE_Dummy[ (exp) ? 1 : -1 ]
-
- #define Log {}
- #define SetIceError false
- #define EC_OUTOFMEMORY "Out of memory"
-
- #include "Ice/IcePreprocessor.h"
-
- #undef ICECORE_API
- #define ICECORE_API OPCODE_API
-
- #include "Ice/IceTypes.h"
- #include "Ice/IceFPU.h"
- #include "Ice/IceMemoryMacros.h"
-
- namespace IceCore
- {
- #include "Ice/IceUtils.h"
- #include "Ice/IceContainer.h"
- #include "Ice/IcePairs.h"
- #include "Ice/IceRevisitedRadix.h"
- #include "Ice/IceRandom.h"
- }
- using namespace IceCore;
-
- #define ICEMATHS_API OPCODE_API
- namespace IceMaths
- {
- #include "Ice/IceAxes.h"
- #include "Ice/IcePoint.h"
- #include "Ice/IceHPoint.h"
- #include "Ice/IceMatrix3x3.h"
- #include "Ice/IceMatrix4x4.h"
- #include "Ice/IcePlane.h"
- #include "Ice/IceRay.h"
- #include "Ice/IceIndexedTriangle.h"
- #include "Ice/IceTriangle.h"
- #include "Ice/IceTrilist.h"
- #include "Ice/IceAABB.h"
- #include "Ice/IceOBB.h"
- #include "Ice/IceBoundingSphere.h"
- #include "Ice/IceSegment.h"
- #include "Ice/IceLSS.h"
- }
- using namespace IceMaths;
+ +// Should be included by Opcode.h if needed + + #define ICE_DONT_CHECK_COMPILER_OPTIONS + + // From Windows... + typedef int BOOL; + #ifndef FALSE + #define FALSE 0 + #endif + + #ifndef TRUE + #define TRUE 1 + #endif + + #include <stdio.h> + #include <stdlib.h> + #include <assert.h> + #include <string.h> + #include <float.h> + #include <math.h> + + #ifndef ASSERT + #define ASSERT(exp) {} + #endif + #define ICE_COMPILE_TIME_ASSERT(exp) extern char ICE_Dummy[ (exp) ? 1 : -1 ] + + #define Log {} + #define SetIceError false + #define EC_OUTOFMEMORY "Out of memory" + + #include "Ice/IcePreprocessor.h" + + #undef ICECORE_API + #define ICECORE_API OPCODE_API + + #include "Ice/IceTypes.h" + #include "Ice/IceFPU.h" + #include "Ice/IceMemoryMacros.h" + + namespace IceCore + { + #include "Ice/IceUtils.h" + #include "Ice/IceContainer.h" + #include "Ice/IcePairs.h" + #include "Ice/IceRevisitedRadix.h" + #include "Ice/IceRandom.h" + } + using namespace IceCore; + + #define ICEMATHS_API OPCODE_API + namespace IceMaths + { + #include "Ice/IceAxes.h" + #include "Ice/IcePoint.h" + #include "Ice/IceHPoint.h" + #include "Ice/IceMatrix3x3.h" + #include "Ice/IceMatrix4x4.h" + #include "Ice/IcePlane.h" + #include "Ice/IceRay.h" + #include "Ice/IceIndexedTriangle.h" + #include "Ice/IceTriangle.h" + #include "Ice/IceTrilist.h" + #include "Ice/IceAABB.h" + #include "Ice/IceOBB.h" + #include "Ice/IceBoundingSphere.h" + #include "Ice/IceSegment.h" + #include "Ice/IceLSS.h" + } + using namespace IceMaths; diff --git a/Opcode/OPC_LSSAABBOverlap.h b/Opcode/OPC_LSSAABBOverlap.h index 43a2da2..5afb190 100644 --- a/Opcode/OPC_LSSAABBOverlap.h +++ b/Opcode/OPC_LSSAABBOverlap.h @@ -1,523 +1,523 @@ -
-// Following code from Magic-Software (http://www.magic-software.com/)
-// A bit modified for Opcode
-
-inline_ float OPC_PointAABBSqrDist(const IcePoint& Point, const IcePoint& center, const IcePoint& extents)
-{
- // Compute coordinates of IcePoint in box coordinate system
- IcePoint Closest = Point - center;
-
- float SqrDistance = 0.0f;
-
- if(Closest.x < -extents.x)
- {
- float Delta = Closest.x + extents.x;
- SqrDistance += Delta*Delta;
- }
- else if(Closest.x > extents.x)
- {
- float Delta = Closest.x - extents.x;
- SqrDistance += Delta*Delta;
- }
-
- if(Closest.y < -extents.y)
- {
- float Delta = Closest.y + extents.y;
- SqrDistance += Delta*Delta;
- }
- else if(Closest.y > extents.y)
- {
- float Delta = Closest.y - extents.y;
- SqrDistance += Delta*Delta;
- }
-
- if(Closest.z < -extents.z)
- {
- float Delta = Closest.z + extents.z;
- SqrDistance += Delta*Delta;
- }
- else if(Closest.z > extents.z)
- {
- float Delta = Closest.z - extents.z;
- SqrDistance += Delta*Delta;
- }
- return SqrDistance;
-}
-
-static void Face(int i0, int i1, int i2, IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, const IcePoint& rkPmE, float* pfLParam, float& rfSqrDistance)
-{
- IcePoint kPpE;
- float fLSqr, fInv, fTmp, fParam, fT, fDelta;
-
- kPpE[i1] = rkPnt[i1] + extents[i1];
- kPpE[i2] = rkPnt[i2] + extents[i2];
- if(rkDir[i0]*kPpE[i1] >= rkDir[i1]*rkPmE[i0])
- {
- if(rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0])
- {
- // v[i1] >= -e[i1], v[i2] >= -e[i2] (distance = 0)
- if(pfLParam)
- {
- rkPnt[i0] = extents[i0];
- fInv = 1.0f/rkDir[i0];
- rkPnt[i1] -= rkDir[i1]*rkPmE[i0]*fInv;
- rkPnt[i2] -= rkDir[i2]*rkPmE[i0]*fInv;
- *pfLParam = -rkPmE[i0]*fInv;
- }
- }
- else
- {
- // v[i1] >= -e[i1], v[i2] < -e[i2]
- fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i2]*rkDir[i2];
- fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
- if(fTmp <= 2.0f*fLSqr*extents[i1])
- {
- fT = fTmp/fLSqr;
- fLSqr += rkDir[i1]*rkDir[i1];
- fTmp = kPpE[i1] - fT;
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = fT - extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- else
- {
- fLSqr += rkDir[i1]*rkDir[i1];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- }
- }
- else
- {
- if ( rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0] )
- {
- // v[i1] < -e[i1], v[i2] >= -e[i2]
- fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
- fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
- if(fTmp <= 2.0f*fLSqr*extents[i2])
- {
- fT = fTmp/fLSqr;
- fLSqr += rkDir[i2]*rkDir[i2];
- fTmp = kPpE[i2] - fT;
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = fT - extents[i2];
- }
- }
- else
- {
- fLSqr += rkDir[i2]*rkDir[i2];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = extents[i2];
- }
- }
- }
- else
- {
- // v[i1] < -e[i1], v[i2] < -e[i2]
- fLSqr = rkDir[i0]*rkDir[i0]+rkDir[i2]*rkDir[i2];
- fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
- if(fTmp >= 0.0f)
- {
- // v[i1]-edge is closest
- if ( fTmp <= 2.0f*fLSqr*extents[i1] )
- {
- fT = fTmp/fLSqr;
- fLSqr += rkDir[i1]*rkDir[i1];
- fTmp = kPpE[i1] - fT;
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = fT - extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- else
- {
- fLSqr += rkDir[i1]*rkDir[i1];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- return;
- }
-
- fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
- fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
- if(fTmp >= 0.0f)
- {
- // v[i2]-edge is closest
- if(fTmp <= 2.0f*fLSqr*extents[i2])
- {
- fT = fTmp/fLSqr;
- fLSqr += rkDir[i2]*rkDir[i2];
- fTmp = kPpE[i2] - fT;
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = fT - extents[i2];
- }
- }
- else
- {
- fLSqr += rkDir[i2]*rkDir[i2];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = extents[i2];
- }
- }
- return;
- }
-
- // (v[i1],v[i2])-corner is closest
- fLSqr += rkDir[i2]*rkDir[i2];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- }
-}
-
-static void CaseNoZeros(IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, float* pfLParam, float& rfSqrDistance)
-{
- IcePoint kPmE(rkPnt.x - extents.x, rkPnt.y - extents.y, rkPnt.z - extents.z);
-
- float fProdDxPy, fProdDyPx, fProdDzPx, fProdDxPz, fProdDzPy, fProdDyPz;
-
- fProdDxPy = rkDir.x*kPmE.y;
- fProdDyPx = rkDir.y*kPmE.x;
- if(fProdDyPx >= fProdDxPy)
- {
- fProdDzPx = rkDir.z*kPmE.x;
- fProdDxPz = rkDir.x*kPmE.z;
- if(fProdDzPx >= fProdDxPz)
- {
- // line intersects x = e0
- Face(0, 1, 2, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
- }
- else
- {
- // line intersects z = e2
- Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
- }
- }
- else
- {
- fProdDzPy = rkDir.z*kPmE.y;
- fProdDyPz = rkDir.y*kPmE.z;
- if(fProdDzPy >= fProdDyPz)
- {
- // line intersects y = e1
- Face(1, 2, 0, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
- }
- else
- {
- // line intersects z = e2
- Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
- }
- }
-}
-
-static void Case0(int i0, int i1, int i2, IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, float* pfLParam, float& rfSqrDistance)
-{
- float fPmE0 = rkPnt[i0] - extents[i0];
- float fPmE1 = rkPnt[i1] - extents[i1];
- float fProd0 = rkDir[i1]*fPmE0;
- float fProd1 = rkDir[i0]*fPmE1;
- float fDelta, fInvLSqr, fInv;
-
- if(fProd0 >= fProd1)
- {
- // line intersects P[i0] = e[i0]
- rkPnt[i0] = extents[i0];
-
- float fPpE1 = rkPnt[i1] + extents[i1];
- fDelta = fProd0 - rkDir[i0]*fPpE1;
- if(fDelta >= 0.0f)
- {
- fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]);
- rfSqrDistance += fDelta*fDelta*fInvLSqr;
- if(pfLParam)
- {
- rkPnt[i1] = -extents[i1];
- *pfLParam = -(rkDir[i0]*fPmE0+rkDir[i1]*fPpE1)*fInvLSqr;
- }
- }
- else
- {
- if(pfLParam)
- {
- fInv = 1.0f/rkDir[i0];
- rkPnt[i1] -= fProd0*fInv;
- *pfLParam = -fPmE0*fInv;
- }
- }
- }
- else
- {
- // line intersects P[i1] = e[i1]
- rkPnt[i1] = extents[i1];
-
- float fPpE0 = rkPnt[i0] + extents[i0];
- fDelta = fProd1 - rkDir[i1]*fPpE0;
- if(fDelta >= 0.0f)
- {
- fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]);
- rfSqrDistance += fDelta*fDelta*fInvLSqr;
- if(pfLParam)
- {
- rkPnt[i0] = -extents[i0];
- *pfLParam = -(rkDir[i0]*fPpE0+rkDir[i1]*fPmE1)*fInvLSqr;
- }
- }
- else
- {
- if(pfLParam)
- {
- fInv = 1.0f/rkDir[i1];
- rkPnt[i0] -= fProd1*fInv;
- *pfLParam = -fPmE1*fInv;
- }
- }
- }
-
- if(rkPnt[i2] < -extents[i2])
- {
- fDelta = rkPnt[i2] + extents[i2];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i2] = -extents[i2];
- }
- else if ( rkPnt[i2] > extents[i2] )
- {
- fDelta = rkPnt[i2] - extents[i2];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i2] = extents[i2];
- }
-}
-
-static void Case00(int i0, int i1, int i2, IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, float* pfLParam, float& rfSqrDistance)
-{
- float fDelta;
-
- if(pfLParam)
- *pfLParam = (extents[i0] - rkPnt[i0])/rkDir[i0];
-
- rkPnt[i0] = extents[i0];
-
- if(rkPnt[i1] < -extents[i1])
- {
- fDelta = rkPnt[i1] + extents[i1];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i1] = -extents[i1];
- }
- else if(rkPnt[i1] > extents[i1])
- {
- fDelta = rkPnt[i1] - extents[i1];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i1] = extents[i1];
- }
-
- if(rkPnt[i2] < -extents[i2])
- {
- fDelta = rkPnt[i2] + extents[i2];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i1] = -extents[i2];
- }
- else if(rkPnt[i2] > extents[i2])
- {
- fDelta = rkPnt[i2] - extents[i2];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i2] = extents[i2];
- }
-}
-
-static void Case000(IcePoint& rkPnt, const IcePoint& extents, float& rfSqrDistance)
-{
- float fDelta;
-
- if(rkPnt.x < -extents.x)
- {
- fDelta = rkPnt.x + extents.x;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.x = -extents.x;
- }
- else if(rkPnt.x > extents.x)
- {
- fDelta = rkPnt.x - extents.x;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.x = extents.x;
- }
-
- if(rkPnt.y < -extents.y)
- {
- fDelta = rkPnt.y + extents.y;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.y = -extents.y;
- }
- else if(rkPnt.y > extents.y)
- {
- fDelta = rkPnt.y - extents.y;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.y = extents.y;
- }
-
- if(rkPnt.z < -extents.z)
- {
- fDelta = rkPnt.z + extents.z;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.z = -extents.z;
- }
- else if(rkPnt.z > extents.z)
- {
- fDelta = rkPnt.z - extents.z;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.z = extents.z;
- }
-}
-
-static float SqrDistance(const Ray& rkLine, const IcePoint& center, const IcePoint& extents, float* pfLParam)
-{
- // compute coordinates of line in box coordinate system
- IcePoint kDiff = rkLine.mOrig - center;
- IcePoint kPnt = kDiff;
- IcePoint kDir = rkLine.mDir;
-
- // Apply reflections so that direction vector has nonnegative components.
- bool bReflect[3];
- for(int i=0;i<3;i++)
- {
- if(kDir[i]<0.0f)
- {
- kPnt[i] = -kPnt[i];
- kDir[i] = -kDir[i];
- bReflect[i] = true;
- }
- else
- {
- bReflect[i] = false;
- }
- }
-
- float fSqrDistance = 0.0f;
-
- if(kDir.x>0.0f)
- {
- if(kDir.y>0.0f)
- {
- if(kDir.z>0.0f) CaseNoZeros(kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,+)
- else Case0(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,0)
- }
- else
- {
- if(kDir.z>0.0f) Case0(0, 2, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,+)
- else Case00(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,0)
- }
- }
- else
- {
- if(kDir.y>0.0f)
- {
- if(kDir.z>0.0f) Case0(1, 2, 0, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,+)
- else Case00(1, 0, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,0)
- }
- else
- {
- if(kDir.z>0.0f) Case00(2, 0, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,0,+)
- else
- {
- Case000(kPnt, extents, fSqrDistance); // (0,0,0)
- if(pfLParam) *pfLParam = 0.0f;
- }
- }
- }
- return fSqrDistance;
-}
-
-inline_ float OPC_SegmentOBBSqrDist(const IceSegment& segment, const IcePoint& c0, const IcePoint& e0)
-{
- float fLP;
- float fSqrDistance = SqrDistance(Ray(segment.GetOrigin(), segment.ComputeDirection()), c0, e0, &fLP);
- if(fLP>=0.0f)
- {
- if(fLP<=1.0f) return fSqrDistance;
- else return OPC_PointAABBSqrDist(segment.mP1, c0, e0);
- }
- else return OPC_PointAABBSqrDist(segment.mP0, c0, e0);
-}
-
-inline_ BOOL LSSCollider::LSSAABBOverlap(const IcePoint& center, const IcePoint& extents)
-{
- // Stats
- mNbVolumeBVTests++;
-
- float s2 = OPC_SegmentOBBSqrDist(mSeg, center, extents);
- if(s2<mRadius2) return TRUE;
-
- return FALSE;
-}
+ +// Following code from Magic-Software (http://www.magic-software.com/) +// A bit modified for Opcode + +inline_ float OPC_PointAABBSqrDist(const IcePoint& Point, const IcePoint& center, const IcePoint& extents) +{ + // Compute coordinates of IcePoint in box coordinate system + IcePoint Closest = Point - center; + + float SqrDistance = 0.0f; + + if(Closest.x < -extents.x) + { + float Delta = Closest.x + extents.x; + SqrDistance += Delta*Delta; + } + else if(Closest.x > extents.x) + { + float Delta = Closest.x - extents.x; + SqrDistance += Delta*Delta; + } + + if(Closest.y < -extents.y) + { + float Delta = Closest.y + extents.y; + SqrDistance += Delta*Delta; + } + else if(Closest.y > extents.y) + { + float Delta = Closest.y - extents.y; + SqrDistance += Delta*Delta; + } + + if(Closest.z < -extents.z) + { + float Delta = Closest.z + extents.z; + SqrDistance += Delta*Delta; + } + else if(Closest.z > extents.z) + { + float Delta = Closest.z - extents.z; + SqrDistance += Delta*Delta; + } + return SqrDistance; +} + +static void Face(int i0, int i1, int i2, IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, const IcePoint& rkPmE, float* pfLParam, float& rfSqrDistance) +{ + IcePoint kPpE; + float fLSqr, fInv, fTmp, fParam, fT, fDelta; + + kPpE[i1] = rkPnt[i1] + extents[i1]; + kPpE[i2] = rkPnt[i2] + extents[i2]; + if(rkDir[i0]*kPpE[i1] >= rkDir[i1]*rkPmE[i0]) + { + if(rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0]) + { + // v[i1] >= -e[i1], v[i2] >= -e[i2] (distance = 0) + if(pfLParam) + { + rkPnt[i0] = extents[i0]; + fInv = 1.0f/rkDir[i0]; + rkPnt[i1] -= rkDir[i1]*rkPmE[i0]*fInv; + rkPnt[i2] -= rkDir[i2]*rkPmE[i0]*fInv; + *pfLParam = -rkPmE[i0]*fInv; + } + } + else + { + // v[i1] >= -e[i1], v[i2] < -e[i2] + fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i2]*rkDir[i2]; + fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]); + if(fTmp <= 2.0f*fLSqr*extents[i1]) + { + fT = fTmp/fLSqr; + fLSqr += rkDir[i1]*rkDir[i1]; + fTmp = kPpE[i1] - fT; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = fT - extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + else + { + fLSqr += rkDir[i1]*rkDir[i1]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + } + } + else + { + if ( rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0] ) + { + // v[i1] < -e[i1], v[i2] >= -e[i2] + fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]; + fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]); + if(fTmp <= 2.0f*fLSqr*extents[i2]) + { + fT = fTmp/fLSqr; + fLSqr += rkDir[i2]*rkDir[i2]; + fTmp = kPpE[i2] - fT; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = fT - extents[i2]; + } + } + else + { + fLSqr += rkDir[i2]*rkDir[i2]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = extents[i2]; + } + } + } + else + { + // v[i1] < -e[i1], v[i2] < -e[i2] + fLSqr = rkDir[i0]*rkDir[i0]+rkDir[i2]*rkDir[i2]; + fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]); + if(fTmp >= 0.0f) + { + // v[i1]-edge is closest + if ( fTmp <= 2.0f*fLSqr*extents[i1] ) + { + fT = fTmp/fLSqr; + fLSqr += rkDir[i1]*rkDir[i1]; + fTmp = kPpE[i1] - fT; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = fT - extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + else + { + fLSqr += rkDir[i1]*rkDir[i1]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + return; + } + + fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]; + fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]); + if(fTmp >= 0.0f) + { + // v[i2]-edge is closest + if(fTmp <= 2.0f*fLSqr*extents[i2]) + { + fT = fTmp/fLSqr; + fLSqr += rkDir[i2]*rkDir[i2]; + fTmp = kPpE[i2] - fT; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = fT - extents[i2]; + } + } + else + { + fLSqr += rkDir[i2]*rkDir[i2]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = extents[i2]; + } + } + return; + } + + // (v[i1],v[i2])-corner is closest + fLSqr += rkDir[i2]*rkDir[i2]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + } +} + +static void CaseNoZeros(IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, float* pfLParam, float& rfSqrDistance) +{ + IcePoint kPmE(rkPnt.x - extents.x, rkPnt.y - extents.y, rkPnt.z - extents.z); + + float fProdDxPy, fProdDyPx, fProdDzPx, fProdDxPz, fProdDzPy, fProdDyPz; + + fProdDxPy = rkDir.x*kPmE.y; + fProdDyPx = rkDir.y*kPmE.x; + if(fProdDyPx >= fProdDxPy) + { + fProdDzPx = rkDir.z*kPmE.x; + fProdDxPz = rkDir.x*kPmE.z; + if(fProdDzPx >= fProdDxPz) + { + // line intersects x = e0 + Face(0, 1, 2, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); + } + else + { + // line intersects z = e2 + Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); + } + } + else + { + fProdDzPy = rkDir.z*kPmE.y; + fProdDyPz = rkDir.y*kPmE.z; + if(fProdDzPy >= fProdDyPz) + { + // line intersects y = e1 + Face(1, 2, 0, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); + } + else + { + // line intersects z = e2 + Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); + } + } +} + +static void Case0(int i0, int i1, int i2, IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, float* pfLParam, float& rfSqrDistance) +{ + float fPmE0 = rkPnt[i0] - extents[i0]; + float fPmE1 = rkPnt[i1] - extents[i1]; + float fProd0 = rkDir[i1]*fPmE0; + float fProd1 = rkDir[i0]*fPmE1; + float fDelta, fInvLSqr, fInv; + + if(fProd0 >= fProd1) + { + // line intersects P[i0] = e[i0] + rkPnt[i0] = extents[i0]; + + float fPpE1 = rkPnt[i1] + extents[i1]; + fDelta = fProd0 - rkDir[i0]*fPpE1; + if(fDelta >= 0.0f) + { + fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]); + rfSqrDistance += fDelta*fDelta*fInvLSqr; + if(pfLParam) + { + rkPnt[i1] = -extents[i1]; + *pfLParam = -(rkDir[i0]*fPmE0+rkDir[i1]*fPpE1)*fInvLSqr; + } + } + else + { + if(pfLParam) + { + fInv = 1.0f/rkDir[i0]; + rkPnt[i1] -= fProd0*fInv; + *pfLParam = -fPmE0*fInv; + } + } + } + else + { + // line intersects P[i1] = e[i1] + rkPnt[i1] = extents[i1]; + + float fPpE0 = rkPnt[i0] + extents[i0]; + fDelta = fProd1 - rkDir[i1]*fPpE0; + if(fDelta >= 0.0f) + { + fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]); + rfSqrDistance += fDelta*fDelta*fInvLSqr; + if(pfLParam) + { + rkPnt[i0] = -extents[i0]; + *pfLParam = -(rkDir[i0]*fPpE0+rkDir[i1]*fPmE1)*fInvLSqr; + } + } + else + { + if(pfLParam) + { + fInv = 1.0f/rkDir[i1]; + rkPnt[i0] -= fProd1*fInv; + *pfLParam = -fPmE1*fInv; + } + } + } + + if(rkPnt[i2] < -extents[i2]) + { + fDelta = rkPnt[i2] + extents[i2]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i2] = -extents[i2]; + } + else if ( rkPnt[i2] > extents[i2] ) + { + fDelta = rkPnt[i2] - extents[i2]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i2] = extents[i2]; + } +} + +static void Case00(int i0, int i1, int i2, IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, float* pfLParam, float& rfSqrDistance) +{ + float fDelta; + + if(pfLParam) + *pfLParam = (extents[i0] - rkPnt[i0])/rkDir[i0]; + + rkPnt[i0] = extents[i0]; + + if(rkPnt[i1] < -extents[i1]) + { + fDelta = rkPnt[i1] + extents[i1]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i1] = -extents[i1]; + } + else if(rkPnt[i1] > extents[i1]) + { + fDelta = rkPnt[i1] - extents[i1]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i1] = extents[i1]; + } + + if(rkPnt[i2] < -extents[i2]) + { + fDelta = rkPnt[i2] + extents[i2]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i1] = -extents[i2]; + } + else if(rkPnt[i2] > extents[i2]) + { + fDelta = rkPnt[i2] - extents[i2]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i2] = extents[i2]; + } +} + +static void Case000(IcePoint& rkPnt, const IcePoint& extents, float& rfSqrDistance) +{ + float fDelta; + + if(rkPnt.x < -extents.x) + { + fDelta = rkPnt.x + extents.x; + rfSqrDistance += fDelta*fDelta; + rkPnt.x = -extents.x; + } + else if(rkPnt.x > extents.x) + { + fDelta = rkPnt.x - extents.x; + rfSqrDistance += fDelta*fDelta; + rkPnt.x = extents.x; + } + + if(rkPnt.y < -extents.y) + { + fDelta = rkPnt.y + extents.y; + rfSqrDistance += fDelta*fDelta; + rkPnt.y = -extents.y; + } + else if(rkPnt.y > extents.y) + { + fDelta = rkPnt.y - extents.y; + rfSqrDistance += fDelta*fDelta; + rkPnt.y = extents.y; + } + + if(rkPnt.z < -extents.z) + { + fDelta = rkPnt.z + extents.z; + rfSqrDistance += fDelta*fDelta; + rkPnt.z = -extents.z; + } + else if(rkPnt.z > extents.z) + { + fDelta = rkPnt.z - extents.z; + rfSqrDistance += fDelta*fDelta; + rkPnt.z = extents.z; + } +} + +static float SqrDistance(const Ray& rkLine, const IcePoint& center, const IcePoint& extents, float* pfLParam) +{ + // compute coordinates of line in box coordinate system + IcePoint kDiff = rkLine.mOrig - center; + IcePoint kPnt = kDiff; + IcePoint kDir = rkLine.mDir; + + // Apply reflections so that direction vector has nonnegative components. + bool bReflect[3]; + for(int i=0;i<3;i++) + { + if(kDir[i]<0.0f) + { + kPnt[i] = -kPnt[i]; + kDir[i] = -kDir[i]; + bReflect[i] = true; + } + else + { + bReflect[i] = false; + } + } + + float fSqrDistance = 0.0f; + + if(kDir.x>0.0f) + { + if(kDir.y>0.0f) + { + if(kDir.z>0.0f) CaseNoZeros(kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,+) + else Case0(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,0) + } + else + { + if(kDir.z>0.0f) Case0(0, 2, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,+) + else Case00(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,0) + } + } + else + { + if(kDir.y>0.0f) + { + if(kDir.z>0.0f) Case0(1, 2, 0, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,+) + else Case00(1, 0, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,0) + } + else + { + if(kDir.z>0.0f) Case00(2, 0, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,0,+) + else + { + Case000(kPnt, extents, fSqrDistance); // (0,0,0) + if(pfLParam) *pfLParam = 0.0f; + } + } + } + return fSqrDistance; +} + +inline_ float OPC_SegmentOBBSqrDist(const IceSegment& segment, const IcePoint& c0, const IcePoint& e0) +{ + float fLP; + float fSqrDistance = SqrDistance(Ray(segment.GetOrigin(), segment.ComputeDirection()), c0, e0, &fLP); + if(fLP>=0.0f) + { + if(fLP<=1.0f) return fSqrDistance; + else return OPC_PointAABBSqrDist(segment.mP1, c0, e0); + } + else return OPC_PointAABBSqrDist(segment.mP0, c0, e0); +} + +inline_ BOOL LSSCollider::LSSAABBOverlap(const IcePoint& center, const IcePoint& extents) +{ + // Stats + mNbVolumeBVTests++; + + float s2 = OPC_SegmentOBBSqrDist(mSeg, center, extents); + if(s2<mRadius2) return TRUE; + + return FALSE; +} diff --git a/Opcode/OPC_LSSCollider.cpp b/Opcode/OPC_LSSCollider.cpp index 3b4559e..35ec89a 100644 --- a/Opcode/OPC_LSSCollider.cpp +++ b/Opcode/OPC_LSSCollider.cpp @@ -1,725 +1,725 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for an LSS collider.
- * \file OPC_LSSCollider.cpp
- * \author Pierre Terdiman
- * \date December, 28, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a lss-vs-tree collider.
- *
- * \class LSSCollider
- * \author Pierre Terdiman
- * \version 1.3
- * \date December, 28, 2002
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-#include "OPC_LSSAABBOverlap.h"
-#include "OPC_LSSTriOverlap.h"
-
-#define SET_CONTACT(prim_index, flag) \
- /* Set contact status */ \
- mFlags |= flag; \
- mTouchedPrimitives->Add(prim_index);
-
-//! LSS-triangle overlap test
-#define LSS_PRIM(prim_index, flag) \
- /* Request vertices from the app */ \
- VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \
- \
- /* Perform LSS-tri overlap test */ \
- if(LSSTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \
- { \
- SET_CONTACT(prim_index, flag) \
- }
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-LSSCollider::LSSCollider()
-{
-// mCenter.Zero();
-// mRadius2 = 0.0f;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-LSSCollider::~LSSCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Generic collision query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - with GetNbTouchedPrimitives()
- * - with GetTouchedPrimitives()
- *
- * \param cache [in/out] an lss cache
- * \param lss [in] collision lss in local space
- * \param model [in] Opcode model to collide with
- * \param worldl [in] lss 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 LSSCollider::Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl, const Matrix4x4* worldm)
-{
- // Checkings
- if(!Setup(&model)) return false;
-
- // Init collision query
- if(InitQuery(cache, lss, worldl, 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] an lss cache
- * \param lss [in] lss in local space
- * \param worldl [in] lss 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 LSSCollider::InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl, const Matrix4x4* worldm)
-{
- // 1) Call the base method
- VolumeCollider::InitQuery();
-
- // 2) Compute LSS in model space:
- // - Precompute R^2
- mRadius2 = lss.mRadius * lss.mRadius;
- // - Compute segment
- mSeg.mP0 = lss.mP0;
- mSeg.mP1 = lss.mP1;
- // -> to world space
- if(worldl)
- {
- mSeg.mP0 *= *worldl;
- mSeg.mP1 *= *worldl;
- }
- // -> to model space
- if(worldm)
- {
- // Invert model matrix
- Matrix4x4 InvWorldM;
- InvertPRMatrix(InvWorldM, *worldm);
-
- mSeg.mP0 *= InvWorldM;
- mSeg.mP1 *= 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 LSS (and set contact status if needed)
- LSS_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 LSS (and set contact status if needed)
- LSS_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 LSS N(ew) against the previous fat LSS P(revious):
-
- // ### rewrite this
-
- LSS Test(mSeg, lss.mRadius); // in model space
- LSS Previous(cache.Previous, sqrtf(cache.Previous.mRadius));
-
-// if(cache.Previous.Contains(Test))
- if(IsCacheValid(cache) && Previous.Contains(Test))
- {
- // - 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 = (lss.mRadius * cache.FatCoeff)*(lss.mRadius * cache.FatCoeff);
-
-
- // Update cache with query data (signature for cached faces)
- cache.Previous.mP0 = mSeg.mP0;
- cache.Previous.mP1 = mSeg.mP1;
- cache.Previous.mRadius = 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] an lss cache
- * \param lss [in] collision lss in world space
- * \param tree [in] AABB tree
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool LSSCollider::Collide(LSSCache& cache, const LSS& lss, 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, lss)) return true;
-
- // Perform collision query
- _Collide(tree);
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks the LSS 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 LSS contains the whole box
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL LSSCollider::LSSContainsBox(const IcePoint& bc, const IcePoint& be)
-{
- // Not implemented
- return FALSE;
-}
-
-#define TEST_BOX_IN_LSS(center, extents) \
- if(LSSContainsBox(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 LSSCollider::_Collide(const AABBCollisionNode* node)
-{
- // Perform LSS-AABB overlap test
- if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
-
- TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->IsLeaf())
- {
- LSS_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 LSSCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)
-{
- // Perform LSS-AABB overlap test
- if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
-
- TEST_BOX_IN_LSS(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 LSSCollider::_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 LSS-AABB overlap test
- if(!LSSAABBOverlap(Center, Extents)) return;
-
- TEST_BOX_IN_LSS(Center, Extents)
-
- if(node->IsLeaf())
- {
- LSS_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 LSSCollider::_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 LSS-AABB overlap test
- if(!LSSAABBOverlap(Center, Extents)) return;
-
- TEST_BOX_IN_LSS(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 LSSCollider::_Collide(const AABBNoLeafNode* node)
-{
- // Perform LSS-AABB overlap test
- if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
-
- TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->HasPosLeaf()) { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { LSS_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 LSSCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)
-{
- // Perform LSS-AABB overlap test
- if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
-
- TEST_BOX_IN_LSS(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 LSSCollider::_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 LSS-AABB overlap test
- if(!LSSAABBOverlap(Center, Extents)) return;
-
- TEST_BOX_IN_LSS(Center, Extents)
-
- if(node->HasPosLeaf()) { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { LSS_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 LSSCollider::_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 LSS-AABB overlap test
- if(!LSSAABBOverlap(Center, Extents)) return;
-
- TEST_BOX_IN_LSS(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 LSSCollider::_Collide(const AABBTreeNode* node)
-{
- // Perform LSS-AABB overlap test
- IcePoint Center, Extents;
- node->GetAABB()->GetCenter(Center);
- node->GetAABB()->GetExtents(Extents);
- if(!LSSAABBOverlap(Center, Extents)) return;
-
- if(node->IsLeaf() || LSSContainsBox(Center, Extents))
- {
- mFlags |= OPC_CONTACT;
- mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives());
- }
- else
- {
- _Collide(node->GetPos());
- _Collide(node->GetNeg());
- }
-}
-
-
-
-
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridLSSCollider::HybridLSSCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridLSSCollider::~HybridLSSCollider()
-{
-}
-
-bool HybridLSSCollider::Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl, 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, lss, worldl, 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++)
- {
- LSS_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++;
- LSS_PRIM(TriangleIndex, OPC_CONTACT)
- }
- }
- else
- {
- udword BaseIndex = CurrentLeaf.GetTriangleIndex();
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- udword TriangleIndex = BaseIndex++;
- LSS_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 an LSS collider. + * \file OPC_LSSCollider.cpp + * \author Pierre Terdiman + * \date December, 28, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a lss-vs-tree collider. + * + * \class LSSCollider + * \author Pierre Terdiman + * \version 1.3 + * \date December, 28, 2002 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +#include "OPC_LSSAABBOverlap.h" +#include "OPC_LSSTriOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + /* Set contact status */ \ + mFlags |= flag; \ + mTouchedPrimitives->Add(prim_index); + +//! LSS-triangle overlap test +#define LSS_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \ + \ + /* Perform LSS-tri overlap test */ \ + if(LSSTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ + { \ + SET_CONTACT(prim_index, flag) \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +LSSCollider::LSSCollider() +{ +// mCenter.Zero(); +// mRadius2 = 0.0f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +LSSCollider::~LSSCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] an lss cache + * \param lss [in] collision lss in local space + * \param model [in] Opcode model to collide with + * \param worldl [in] lss 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 LSSCollider::Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl, const Matrix4x4* worldm) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(cache, lss, worldl, 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] an lss cache + * \param lss [in] lss in local space + * \param worldl [in] lss 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 LSSCollider::InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl, const Matrix4x4* worldm) +{ + // 1) Call the base method + VolumeCollider::InitQuery(); + + // 2) Compute LSS in model space: + // - Precompute R^2 + mRadius2 = lss.mRadius * lss.mRadius; + // - Compute segment + mSeg.mP0 = lss.mP0; + mSeg.mP1 = lss.mP1; + // -> to world space + if(worldl) + { + mSeg.mP0 *= *worldl; + mSeg.mP1 *= *worldl; + } + // -> to model space + if(worldm) + { + // Invert model matrix + Matrix4x4 InvWorldM; + InvertPRMatrix(InvWorldM, *worldm); + + mSeg.mP0 *= InvWorldM; + mSeg.mP1 *= 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 LSS (and set contact status if needed) + LSS_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 LSS (and set contact status if needed) + LSS_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 LSS N(ew) against the previous fat LSS P(revious): + + // ### rewrite this + + LSS Test(mSeg, lss.mRadius); // in model space + LSS Previous(cache.Previous, sqrtf(cache.Previous.mRadius)); + +// if(cache.Previous.Contains(Test)) + if(IsCacheValid(cache) && Previous.Contains(Test)) + { + // - 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 = (lss.mRadius * cache.FatCoeff)*(lss.mRadius * cache.FatCoeff); + + + // Update cache with query data (signature for cached faces) + cache.Previous.mP0 = mSeg.mP0; + cache.Previous.mP1 = mSeg.mP1; + cache.Previous.mRadius = 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] an lss cache + * \param lss [in] collision lss in world space + * \param tree [in] AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool LSSCollider::Collide(LSSCache& cache, const LSS& lss, 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, lss)) return true; + + // Perform collision query + _Collide(tree); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the LSS 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 LSS contains the whole box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL LSSCollider::LSSContainsBox(const IcePoint& bc, const IcePoint& be) +{ + // Not implemented + return FALSE; +} + +#define TEST_BOX_IN_LSS(center, extents) \ + if(LSSContainsBox(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 LSSCollider::_Collide(const AABBCollisionNode* node) +{ + // Perform LSS-AABB overlap test + if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->IsLeaf()) + { + LSS_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 LSSCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) +{ + // Perform LSS-AABB overlap test + if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_LSS(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 LSSCollider::_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 LSS-AABB overlap test + if(!LSSAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_LSS(Center, Extents) + + if(node->IsLeaf()) + { + LSS_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 LSSCollider::_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 LSS-AABB overlap test + if(!LSSAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_LSS(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 LSSCollider::_Collide(const AABBNoLeafNode* node) +{ + // Perform LSS-AABB overlap test + if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->HasPosLeaf()) { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { LSS_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 LSSCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) +{ + // Perform LSS-AABB overlap test + if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_LSS(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 LSSCollider::_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 LSS-AABB overlap test + if(!LSSAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_LSS(Center, Extents) + + if(node->HasPosLeaf()) { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { LSS_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 LSSCollider::_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 LSS-AABB overlap test + if(!LSSAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_LSS(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 LSSCollider::_Collide(const AABBTreeNode* node) +{ + // Perform LSS-AABB overlap test + IcePoint Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!LSSAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf() || LSSContainsBox(Center, Extents)) + { + mFlags |= OPC_CONTACT; + mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _Collide(node->GetPos()); + _Collide(node->GetNeg()); + } +} + + + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridLSSCollider::HybridLSSCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridLSSCollider::~HybridLSSCollider() +{ +} + +bool HybridLSSCollider::Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl, 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, lss, worldl, 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++) + { + LSS_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++; + LSS_PRIM(TriangleIndex, OPC_CONTACT) + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + udword TriangleIndex = BaseIndex++; + LSS_PRIM(TriangleIndex, OPC_CONTACT) + } + } + } + } + + return true; +} diff --git a/Opcode/OPC_LSSCollider.h b/Opcode/OPC_LSSCollider.h index a533419..426564c 100644 --- a/Opcode/OPC_LSSCollider.h +++ b/Opcode/OPC_LSSCollider.h @@ -1,99 +1,99 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for an LSS collider.
- * \file OPC_LSSCollider.h
- * \author Pierre Terdiman
- * \date December, 28, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_LSSCOLLIDER_H__
-#define __OPC_LSSCOLLIDER_H__
-
- struct OPCODE_API LSSCache : VolumeCache
- {
- LSSCache()
- {
- Previous.mP0 = IcePoint(0.0f, 0.0f, 0.0f);
- Previous.mP1 = IcePoint(0.0f, 0.0f, 0.0f);
- Previous.mRadius = 0.0f;
- FatCoeff = 1.1f;
- }
-
- // Cached faces signature
- LSS Previous; //!< LSS used when performing the query resulting in cached faces
- // User settings
- float FatCoeff; //!< mRadius2 multiplier used to create a fat LSS
- };
-
- class OPCODE_API LSSCollider : public VolumeCollider
- {
- public:
- // Constructor / Destructor
- LSSCollider();
- virtual ~LSSCollider();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Generic collision query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - with GetNbTouchedPrimitives()
- * - with GetTouchedPrimitives()
- *
- * \param cache [in/out] an lss cache
- * \param lss [in] collision lss in local space
- * \param model [in] Opcode model to collide with
- * \param worldl [in] lss 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 Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null);
- //
- bool Collide(LSSCache& cache, const LSS& lss, const AABBTree* tree);
- protected:
- // LSS in model space
- IceSegment mSeg; //!< IceSegment
- float mRadius2; //!< LSS radius squared
- // Internal methods
- void _Collide(const AABBCollisionNode* node);
- void _Collide(const AABBNoLeafNode* node);
- void _Collide(const AABBQuantizedNode* node);
- void _Collide(const AABBQuantizedNoLeafNode* node);
- void _Collide(const AABBTreeNode* node);
- void _CollideNoPrimitiveTest(const AABBCollisionNode* node);
- void _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
- void _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
- void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
- // Overlap tests
- inline_ BOOL LSSContainsBox(const IcePoint& bc, const IcePoint& be);
- inline_ BOOL LSSAABBOverlap(const IcePoint& center, const IcePoint& extents);
- inline_ BOOL LSSTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2);
- // Init methods
- BOOL InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null);
- };
-
- class OPCODE_API HybridLSSCollider : public LSSCollider
- {
- public:
- // Constructor / Destructor
- HybridLSSCollider();
- virtual ~HybridLSSCollider();
-
- bool Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null);
- protected:
- Container mTouchedBoxes;
- };
-
-#endif // __OPC_LSSCOLLIDER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for an LSS collider. + * \file OPC_LSSCollider.h + * \author Pierre Terdiman + * \date December, 28, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_LSSCOLLIDER_H__ +#define __OPC_LSSCOLLIDER_H__ + + struct OPCODE_API LSSCache : VolumeCache + { + LSSCache() + { + Previous.mP0 = IcePoint(0.0f, 0.0f, 0.0f); + Previous.mP1 = IcePoint(0.0f, 0.0f, 0.0f); + Previous.mRadius = 0.0f; + FatCoeff = 1.1f; + } + + // Cached faces signature + LSS Previous; //!< LSS used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< mRadius2 multiplier used to create a fat LSS + }; + + class OPCODE_API LSSCollider : public VolumeCollider + { + public: + // Constructor / Destructor + LSSCollider(); + virtual ~LSSCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] an lss cache + * \param lss [in] collision lss in local space + * \param model [in] Opcode model to collide with + * \param worldl [in] lss 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 Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); + // + bool Collide(LSSCache& cache, const LSS& lss, const AABBTree* tree); + protected: + // LSS in model space + IceSegment mSeg; //!< IceSegment + float mRadius2; //!< LSS radius squared + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* node); + void _Collide(const AABBTreeNode* node); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); + // Overlap tests + inline_ BOOL LSSContainsBox(const IcePoint& bc, const IcePoint& be); + inline_ BOOL LSSAABBOverlap(const IcePoint& center, const IcePoint& extents); + inline_ BOOL LSSTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2); + // Init methods + BOOL InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridLSSCollider : public LSSCollider + { + public: + // Constructor / Destructor + HybridLSSCollider(); + virtual ~HybridLSSCollider(); + + bool Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_LSSCOLLIDER_H__ diff --git a/Opcode/OPC_LSSTriOverlap.h b/Opcode/OPC_LSSTriOverlap.h index 39c9df8..9957534 100644 --- a/Opcode/OPC_LSSTriOverlap.h +++ b/Opcode/OPC_LSSTriOverlap.h @@ -1,679 +1,679 @@ -// Following code from Magic-Software (http://www.magic-software.com/)
-// A bit modified for Opcode
-
-static const float gs_fTolerance = 1e-05f;
-
-static float OPC_PointTriangleSqrDist(const IcePoint& Point, const IcePoint& p0, const IcePoint& p1, const IcePoint& p2)
-{
- // Hook
- IcePoint TriEdge0 = p1 - p0;
- IcePoint TriEdge1 = p2 - p0;
-
- IcePoint kDiff = p0 - Point;
- float fA00 = TriEdge0.SquareMagnitude();
- float fA01 = TriEdge0 | TriEdge1;
- float fA11 = TriEdge1.SquareMagnitude();
- float fB0 = kDiff | TriEdge0;
- float fB1 = kDiff | TriEdge1;
- float fC = kDiff.SquareMagnitude();
- float fDet = fabsf(fA00*fA11 - fA01*fA01);
- float fS = fA01*fB1-fA11*fB0;
- float fT = fA01*fB0-fA00*fB1;
- float fSqrDist;
-
- if(fS + fT <= fDet)
- {
- if(fS < 0.0f)
- {
- if(fT < 0.0f) // region 4
- {
- if(fB0 < 0.0f)
- {
- if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC;
- else fSqrDist = fB0*(-fB0/fA00)+fC;
- }
- else
- {
- if(fB1 >= 0.0f) fSqrDist = fC;
- else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC;
- else fSqrDist = fB1*(-fB1/fA11)+fC;
- }
- }
- else // region 3
- {
- if(fB1 >= 0.0f) fSqrDist = fC;
- else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC;
- else fSqrDist = fB1*(-fB1/fA11)+fC;
- }
- }
- else if(fT < 0.0f) // region 5
- {
- if(fB0 >= 0.0f) fSqrDist = fC;
- else if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC;
- else fSqrDist = fB0*(-fB0/fA00)+fC;
- }
- else // region 0
- {
- // minimum at interior IcePoint
- if(fDet==0.0f)
- {
- fSqrDist = MAX_FLOAT;
- }
- else
- {
- float fInvDet = 1.0f/fDet;
- fS *= fInvDet;
- fT *= fInvDet;
- fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
- }
- }
- }
- else
- {
- float fTmp0, fTmp1, fNumer, fDenom;
-
- if(fS < 0.0f) // region 2
- {
- fTmp0 = fA01 + fB0;
- fTmp1 = fA11 + fB1;
- if(fTmp1 > fTmp0)
- {
- fNumer = fTmp1 - fTmp0;
- fDenom = fA00-2.0f*fA01+fA11;
- if(fNumer >= fDenom)
- {
- fSqrDist = fA00+2.0f*fB0+fC;
- }
- else
- {
- fS = fNumer/fDenom;
- fT = 1.0f - fS;
- fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
- }
- }
- else
- {
- if(fTmp1 <= 0.0f) fSqrDist = fA11+2.0f*fB1+fC;
- else if(fB1 >= 0.0f) fSqrDist = fC;
- else fSqrDist = fB1*(-fB1/fA11)+fC;
- }
- }
- else if(fT < 0.0f) // region 6
- {
- fTmp0 = fA01 + fB1;
- fTmp1 = fA00 + fB0;
- if(fTmp1 > fTmp0)
- {
- fNumer = fTmp1 - fTmp0;
- fDenom = fA00-2.0f*fA01+fA11;
- if(fNumer >= fDenom)
- {
- fSqrDist = fA11+2.0f*fB1+fC;
- }
- else
- {
- fT = fNumer/fDenom;
- fS = 1.0f - fT;
- fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
- }
- }
- else
- {
- if(fTmp1 <= 0.0f) fSqrDist = fA00+2.0f*fB0+fC;
- else if(fB0 >= 0.0f) fSqrDist = fC;
- else fSqrDist = fB0*(-fB0/fA00)+fC;
- }
- }
- else // region 1
- {
- fNumer = fA11 + fB1 - fA01 - fB0;
- if(fNumer <= 0.0f)
- {
- fSqrDist = fA11+2.0f*fB1+fC;
- }
- else
- {
- fDenom = fA00-2.0f*fA01+fA11;
- if(fNumer >= fDenom)
- {
- fSqrDist = fA00+2.0f*fB0+fC;
- }
- else
- {
- fS = fNumer/fDenom;
- fT = 1.0f - fS;
- fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
- }
- }
- }
- }
- return fabsf(fSqrDist);
-}
-
-static float OPC_SegmentSegmentSqrDist(const IceSegment& rkSeg0, const IceSegment& rkSeg1)
-{
- // Hook
- IcePoint rkSeg0Direction = rkSeg0.ComputeDirection();
- IcePoint rkSeg1Direction = rkSeg1.ComputeDirection();
-
- IcePoint kDiff = rkSeg0.mP0 - rkSeg1.mP0;
- float fA00 = rkSeg0Direction.SquareMagnitude();
- float fA01 = -rkSeg0Direction.Dot(rkSeg1Direction);
- float fA11 = rkSeg1Direction.SquareMagnitude();
- float fB0 = kDiff.Dot(rkSeg0Direction);
- float fC = kDiff.SquareMagnitude();
- float fDet = fabsf(fA00*fA11-fA01*fA01);
-
- float fB1, fS, fT, fSqrDist, fTmp;
-
- if(fDet>=gs_fTolerance)
- {
- // line segments are not parallel
- fB1 = -kDiff.Dot(rkSeg1Direction);
- fS = fA01*fB1-fA11*fB0;
- fT = fA01*fB0-fA00*fB1;
-
- if(fS >= 0.0f)
- {
- if(fS <= fDet)
- {
- if(fT >= 0.0f)
- {
- if(fT <= fDet) // region 0 (interior)
- {
- // minimum at two interior points of 3D lines
- float fInvDet = 1.0f/fDet;
- fS *= fInvDet;
- fT *= fInvDet;
- fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC;
- }
- else // region 3 (side)
- {
- fTmp = fA01+fB0;
- if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC;
- else if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp);
- else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC;
- }
- }
- else // region 7 (side)
- {
- if(fB0>=0.0f) fSqrDist = fC;
- else if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC;
- else fSqrDist = fB0*(-fB0/fA00)+fC;
- }
- }
- else
- {
- if ( fT >= 0.0 )
- {
- if ( fT <= fDet ) // region 1 (side)
- {
- fTmp = fA01+fB1;
- if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC;
- else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp);
- else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC;
- }
- else // region 2 (corner)
- {
- fTmp = fA01+fB0;
- if ( -fTmp <= fA00 )
- {
- if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC;
- else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC;
- }
- else
- {
- fTmp = fA01+fB1;
- if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC;
- else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp);
- else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC;
- }
- }
- }
- else // region 8 (corner)
- {
- if ( -fB0 < fA00 )
- {
- if(fB0>=0.0f) fSqrDist = fC;
- else fSqrDist = fB0*(-fB0/fA00)+fC;
- }
- else
- {
- fTmp = fA01+fB1;
- if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC;
- else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp);
- else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC;
- }
- }
- }
- }
- else
- {
- if ( fT >= 0.0f )
- {
- if ( fT <= fDet ) // region 5 (side)
- {
- if(fB1>=0.0f) fSqrDist = fC;
- else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC;
- else fSqrDist = fB1*(-fB1/fA11)+fC;
- }
- else // region 4 (corner)
- {
- fTmp = fA01+fB0;
- if ( fTmp < 0.0f )
- {
- if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp);
- else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC;
- }
- else
- {
- if(fB1>=0.0f) fSqrDist = fC;
- else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC;
- else fSqrDist = fB1*(-fB1/fA11)+fC;
- }
- }
- }
- else // region 6 (corner)
- {
- if ( fB0 < 0.0f )
- {
- if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC;
- else fSqrDist = fB0*(-fB0/fA00)+fC;
- }
- else
- {
- if(fB1>=0.0f) fSqrDist = fC;
- else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC;
- else fSqrDist = fB1*(-fB1/fA11)+fC;
- }
- }
- }
- }
- else
- {
- // line segments are parallel
- if ( fA01 > 0.0f )
- {
- // direction vectors form an obtuse angle
- if ( fB0 >= 0.0f )
- {
- fSqrDist = fC;
- }
- else if ( -fB0 <= fA00 )
- {
- fSqrDist = fB0*(-fB0/fA00)+fC;
- }
- else
- {
- fB1 = -kDiff.Dot(rkSeg1Direction);
- fTmp = fA00+fB0;
- if ( -fTmp >= fA01 )
- {
- fSqrDist = fA00+fA11+fC+2.0f*(fA01+fB0+fB1);
- }
- else
- {
- fT = -fTmp/fA01;
- fSqrDist = fA00+2.0f*fB0+fC+fT*(fA11*fT+2.0f*(fA01+fB1));
- }
- }
- }
- else
- {
- // direction vectors form an acute angle
- if ( -fB0 >= fA00 )
- {
- fSqrDist = fA00+2.0f*fB0+fC;
- }
- else if ( fB0 <= 0.0f )
- {
- fSqrDist = fB0*(-fB0/fA00)+fC;
- }
- else
- {
- fB1 = -kDiff.Dot(rkSeg1Direction);
- if ( fB0 >= -fA01 )
- {
- fSqrDist = fA11+2.0f*fB1+fC;
- }
- else
- {
- fT = -fB0/fA01;
- fSqrDist = fC+fT*(2.0f*fB1+fA11*fT);
- }
- }
- }
- }
- return fabsf(fSqrDist);
-}
-
-inline_ float OPC_SegmentRaySqrDist(const IceSegment& rkSeg0, const Ray& rkSeg1)
-{
- return OPC_SegmentSegmentSqrDist(rkSeg0, IceSegment(rkSeg1.mOrig, rkSeg1.mOrig + rkSeg1.mDir));
-}
-
-static float OPC_SegmentTriangleSqrDist(const IceSegment& segment, const IcePoint& p0, const IcePoint& p1, const IcePoint& p2)
-{
- // Hook
- const IcePoint TriEdge0 = p1 - p0;
- const IcePoint TriEdge1 = p2 - p0;
-
- const IcePoint& rkSegOrigin = segment.GetOrigin();
- IcePoint rkSegDirection = segment.ComputeDirection();
-
- IcePoint kDiff = p0 - rkSegOrigin;
- float fA00 = rkSegDirection.SquareMagnitude();
- float fA01 = -rkSegDirection.Dot(TriEdge0);
- float fA02 = -rkSegDirection.Dot(TriEdge1);
- float fA11 = TriEdge0.SquareMagnitude();
- float fA12 = TriEdge0.Dot(TriEdge1);
- float fA22 = TriEdge1.Dot(TriEdge1);
- float fB0 = -kDiff.Dot(rkSegDirection);
- float fB1 = kDiff.Dot(TriEdge0);
- float fB2 = kDiff.Dot(TriEdge1);
- float fCof00 = fA11*fA22-fA12*fA12;
- float fCof01 = fA02*fA12-fA01*fA22;
- float fCof02 = fA01*fA12-fA02*fA11;
- float fDet = fA00*fCof00+fA01*fCof01+fA02*fCof02;
-
- Ray kTriSeg;
- IcePoint kPt;
- float fSqrDist, fSqrDist0;
-
- if(fabsf(fDet)>=gs_fTolerance)
- {
- float fCof11 = fA00*fA22-fA02*fA02;
- float fCof12 = fA02*fA01-fA00*fA12;
- float fCof22 = fA00*fA11-fA01*fA01;
- float fInvDet = 1.0f/fDet;
- float fRhs0 = -fB0*fInvDet;
- float fRhs1 = -fB1*fInvDet;
- float fRhs2 = -fB2*fInvDet;
-
- float fR = fCof00*fRhs0+fCof01*fRhs1+fCof02*fRhs2;
- float fS = fCof01*fRhs0+fCof11*fRhs1+fCof12*fRhs2;
- float fT = fCof02*fRhs0+fCof12*fRhs1+fCof22*fRhs2;
-
- if ( fR < 0.0f )
- {
- if ( fS+fT <= 1.0f )
- {
- if ( fS < 0.0f )
- {
- if ( fT < 0.0f ) // region 4m
- {
- // min on face s=0 or t=0 or r=0
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge1;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else // region 3m
- {
- // min on face s=0 or r=0
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge1;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- }
- else if ( fT < 0.0f ) // region 5m
- {
- // min on face t=0 or r=0
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else // region 0m
- {
- // min on face r=0
- fSqrDist = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
- }
- }
- else
- {
- if ( fS < 0.0f ) // region 2m
- {
- // min on face s=0 or s+t=1 or r=0
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge1;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1-TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else if ( fT < 0.0f ) // region 6m
- {
- // min on face t=0 or s+t=1 or r=0
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1-TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else // region 1m
- {
- // min on face s+t=1 or r=0
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1-TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- }
- }
- else if ( fR <= 1.0f )
- {
- if ( fS+fT <= 1.0f )
- {
- if ( fS < 0.0f )
- {
- if ( fT < 0.0f ) // region 4
- {
- // min on face s=0 or t=0
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge1;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else // region 3
- {
- // min on face s=0
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge1;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- }
- }
- else if ( fT < 0.0f ) // region 5
- {
- // min on face t=0
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- }
- else // region 0
- {
- // global minimum is interior, done
- fSqrDist = fR*(fA00*fR+fA01*fS+fA02*fT+2.0f*fB0)
- +fS*(fA01*fR+fA11*fS+fA12*fT+2.0f*fB1)
- +fT*(fA02*fR+fA12*fS+fA22*fT+2.0f*fB2)
- +kDiff.SquareMagnitude();
- }
- }
- else
- {
- if ( fS < 0.0f ) // region 2
- {
- // min on face s=0 or s+t=1
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge1;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1-TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else if ( fT < 0.0f ) // region 6
- {
- // min on face t=0 or s+t=1
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1-TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else // region 1
- {
- // min on face s+t=1
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1-TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- }
- }
- }
- else // fR > 1
- {
- if ( fS+fT <= 1.0f )
- {
- if ( fS < 0.0f )
- {
- if ( fT < 0.0f ) // region 4p
- {
- // min on face s=0 or t=0 or r=1
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge1;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- kPt = rkSegOrigin+rkSegDirection;
- fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else // region 3p
- {
- // min on face s=0 or r=1
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge1;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kPt = rkSegOrigin+rkSegDirection;
- fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- }
- else if ( fT < 0.0f ) // region 5p
- {
- // min on face t=0 or r=1
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kPt = rkSegOrigin+rkSegDirection;
- fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else // region 0p
- {
- // min face on r=1
- kPt = rkSegOrigin+rkSegDirection;
- fSqrDist = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
- }
- }
- else
- {
- if ( fS < 0.0f ) // region 2p
- {
- // min on face s=0 or s+t=1 or r=1
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge1;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1-TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- kPt = rkSegOrigin+rkSegDirection;
- fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else if ( fT < 0.0f ) // region 6p
- {
- // min on face t=0 or s+t=1 or r=1
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1-TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- kPt = rkSegOrigin+rkSegDirection;
- fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- else // region 1p
- {
- // min on face s+t=1 or r=1
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1-TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
- kPt = rkSegOrigin+rkSegDirection;
- fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- }
- }
- }
- else
- {
- // segment and triangle are parallel
- kTriSeg.mOrig = p0;
- kTriSeg.mDir = TriEdge0;
- fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg);
-
- kTriSeg.mDir = TriEdge1;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
-
- kTriSeg.mOrig = p1;
- kTriSeg.mDir = TriEdge1 - TriEdge0;
- fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
-
- fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
-
- kPt = rkSegOrigin+rkSegDirection;
- fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2);
- if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0;
- }
- return fabsf(fSqrDist);
-}
-
-inline_ BOOL LSSCollider::LSSTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2)
-{
- // Stats
- mNbVolumePrimTests++;
-
- float s2 = OPC_SegmentTriangleSqrDist(mSeg, vert0, vert1, vert2);
- if(s2<mRadius2) return TRUE;
- return FALSE;
-}
+// Following code from Magic-Software (http://www.magic-software.com/) +// A bit modified for Opcode + +static const float gs_fTolerance = 1e-05f; + +static float OPC_PointTriangleSqrDist(const IcePoint& Point, const IcePoint& p0, const IcePoint& p1, const IcePoint& p2) +{ + // Hook + IcePoint TriEdge0 = p1 - p0; + IcePoint TriEdge1 = p2 - p0; + + IcePoint kDiff = p0 - Point; + float fA00 = TriEdge0.SquareMagnitude(); + float fA01 = TriEdge0 | TriEdge1; + float fA11 = TriEdge1.SquareMagnitude(); + float fB0 = kDiff | TriEdge0; + float fB1 = kDiff | TriEdge1; + float fC = kDiff.SquareMagnitude(); + float fDet = fabsf(fA00*fA11 - fA01*fA01); + float fS = fA01*fB1-fA11*fB0; + float fT = fA01*fB0-fA00*fB1; + float fSqrDist; + + if(fS + fT <= fDet) + { + if(fS < 0.0f) + { + if(fT < 0.0f) // region 4 + { + if(fB0 < 0.0f) + { + if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + if(fB1 >= 0.0f) fSqrDist = fC; + else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + else // region 3 + { + if(fB1 >= 0.0f) fSqrDist = fC; + else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + else if(fT < 0.0f) // region 5 + { + if(fB0 >= 0.0f) fSqrDist = fC; + else if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + else // region 0 + { + // minimum at interior IcePoint + if(fDet==0.0f) + { + fSqrDist = MAX_FLOAT; + } + else + { + float fInvDet = 1.0f/fDet; + fS *= fInvDet; + fT *= fInvDet; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + } + } + else + { + float fTmp0, fTmp1, fNumer, fDenom; + + if(fS < 0.0f) // region 2 + { + fTmp0 = fA01 + fB0; + fTmp1 = fA11 + fB1; + if(fTmp1 > fTmp0) + { + fNumer = fTmp1 - fTmp0; + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { + fSqrDist = fA00+2.0f*fB0+fC; + } + else + { + fS = fNumer/fDenom; + fT = 1.0f - fS; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + } + else + { + if(fTmp1 <= 0.0f) fSqrDist = fA11+2.0f*fB1+fC; + else if(fB1 >= 0.0f) fSqrDist = fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + else if(fT < 0.0f) // region 6 + { + fTmp0 = fA01 + fB1; + fTmp1 = fA00 + fB0; + if(fTmp1 > fTmp0) + { + fNumer = fTmp1 - fTmp0; + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { + fSqrDist = fA11+2.0f*fB1+fC; + } + else + { + fT = fNumer/fDenom; + fS = 1.0f - fT; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + } + else + { + if(fTmp1 <= 0.0f) fSqrDist = fA00+2.0f*fB0+fC; + else if(fB0 >= 0.0f) fSqrDist = fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + } + else // region 1 + { + fNumer = fA11 + fB1 - fA01 - fB0; + if(fNumer <= 0.0f) + { + fSqrDist = fA11+2.0f*fB1+fC; + } + else + { + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { + fSqrDist = fA00+2.0f*fB0+fC; + } + else + { + fS = fNumer/fDenom; + fT = 1.0f - fS; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + } + } + } + return fabsf(fSqrDist); +} + +static float OPC_SegmentSegmentSqrDist(const IceSegment& rkSeg0, const IceSegment& rkSeg1) +{ + // Hook + IcePoint rkSeg0Direction = rkSeg0.ComputeDirection(); + IcePoint rkSeg1Direction = rkSeg1.ComputeDirection(); + + IcePoint kDiff = rkSeg0.mP0 - rkSeg1.mP0; + float fA00 = rkSeg0Direction.SquareMagnitude(); + float fA01 = -rkSeg0Direction.Dot(rkSeg1Direction); + float fA11 = rkSeg1Direction.SquareMagnitude(); + float fB0 = kDiff.Dot(rkSeg0Direction); + float fC = kDiff.SquareMagnitude(); + float fDet = fabsf(fA00*fA11-fA01*fA01); + + float fB1, fS, fT, fSqrDist, fTmp; + + if(fDet>=gs_fTolerance) + { + // line segments are not parallel + fB1 = -kDiff.Dot(rkSeg1Direction); + fS = fA01*fB1-fA11*fB0; + fT = fA01*fB0-fA00*fB1; + + if(fS >= 0.0f) + { + if(fS <= fDet) + { + if(fT >= 0.0f) + { + if(fT <= fDet) // region 0 (interior) + { + // minimum at two interior points of 3D lines + float fInvDet = 1.0f/fDet; + fS *= fInvDet; + fT *= fInvDet; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + else // region 3 (side) + { + fTmp = fA01+fB0; + if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC; + else if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp); + else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; + } + } + else // region 7 (side) + { + if(fB0>=0.0f) fSqrDist = fC; + else if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + } + else + { + if ( fT >= 0.0 ) + { + if ( fT <= fDet ) // region 1 (side) + { + fTmp = fA01+fB1; + if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; + else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); + else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; + } + else // region 2 (corner) + { + fTmp = fA01+fB0; + if ( -fTmp <= fA00 ) + { + if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; + } + else + { + fTmp = fA01+fB1; + if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; + else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); + else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; + } + } + } + else // region 8 (corner) + { + if ( -fB0 < fA00 ) + { + if(fB0>=0.0f) fSqrDist = fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + fTmp = fA01+fB1; + if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; + else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); + else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; + } + } + } + } + else + { + if ( fT >= 0.0f ) + { + if ( fT <= fDet ) // region 5 (side) + { + if(fB1>=0.0f) fSqrDist = fC; + else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + else // region 4 (corner) + { + fTmp = fA01+fB0; + if ( fTmp < 0.0f ) + { + if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp); + else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; + } + else + { + if(fB1>=0.0f) fSqrDist = fC; + else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + } + else // region 6 (corner) + { + if ( fB0 < 0.0f ) + { + if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + if(fB1>=0.0f) fSqrDist = fC; + else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + } + } + else + { + // line segments are parallel + if ( fA01 > 0.0f ) + { + // direction vectors form an obtuse angle + if ( fB0 >= 0.0f ) + { + fSqrDist = fC; + } + else if ( -fB0 <= fA00 ) + { + fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + fB1 = -kDiff.Dot(rkSeg1Direction); + fTmp = fA00+fB0; + if ( -fTmp >= fA01 ) + { + fSqrDist = fA00+fA11+fC+2.0f*(fA01+fB0+fB1); + } + else + { + fT = -fTmp/fA01; + fSqrDist = fA00+2.0f*fB0+fC+fT*(fA11*fT+2.0f*(fA01+fB1)); + } + } + } + else + { + // direction vectors form an acute angle + if ( -fB0 >= fA00 ) + { + fSqrDist = fA00+2.0f*fB0+fC; + } + else if ( fB0 <= 0.0f ) + { + fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + fB1 = -kDiff.Dot(rkSeg1Direction); + if ( fB0 >= -fA01 ) + { + fSqrDist = fA11+2.0f*fB1+fC; + } + else + { + fT = -fB0/fA01; + fSqrDist = fC+fT*(2.0f*fB1+fA11*fT); + } + } + } + } + return fabsf(fSqrDist); +} + +inline_ float OPC_SegmentRaySqrDist(const IceSegment& rkSeg0, const Ray& rkSeg1) +{ + return OPC_SegmentSegmentSqrDist(rkSeg0, IceSegment(rkSeg1.mOrig, rkSeg1.mOrig + rkSeg1.mDir)); +} + +static float OPC_SegmentTriangleSqrDist(const IceSegment& segment, const IcePoint& p0, const IcePoint& p1, const IcePoint& p2) +{ + // Hook + const IcePoint TriEdge0 = p1 - p0; + const IcePoint TriEdge1 = p2 - p0; + + const IcePoint& rkSegOrigin = segment.GetOrigin(); + IcePoint rkSegDirection = segment.ComputeDirection(); + + IcePoint kDiff = p0 - rkSegOrigin; + float fA00 = rkSegDirection.SquareMagnitude(); + float fA01 = -rkSegDirection.Dot(TriEdge0); + float fA02 = -rkSegDirection.Dot(TriEdge1); + float fA11 = TriEdge0.SquareMagnitude(); + float fA12 = TriEdge0.Dot(TriEdge1); + float fA22 = TriEdge1.Dot(TriEdge1); + float fB0 = -kDiff.Dot(rkSegDirection); + float fB1 = kDiff.Dot(TriEdge0); + float fB2 = kDiff.Dot(TriEdge1); + float fCof00 = fA11*fA22-fA12*fA12; + float fCof01 = fA02*fA12-fA01*fA22; + float fCof02 = fA01*fA12-fA02*fA11; + float fDet = fA00*fCof00+fA01*fCof01+fA02*fCof02; + + Ray kTriSeg; + IcePoint kPt; + float fSqrDist, fSqrDist0; + + if(fabsf(fDet)>=gs_fTolerance) + { + float fCof11 = fA00*fA22-fA02*fA02; + float fCof12 = fA02*fA01-fA00*fA12; + float fCof22 = fA00*fA11-fA01*fA01; + float fInvDet = 1.0f/fDet; + float fRhs0 = -fB0*fInvDet; + float fRhs1 = -fB1*fInvDet; + float fRhs2 = -fB2*fInvDet; + + float fR = fCof00*fRhs0+fCof01*fRhs1+fCof02*fRhs2; + float fS = fCof01*fRhs0+fCof11*fRhs1+fCof12*fRhs2; + float fT = fCof02*fRhs0+fCof12*fRhs1+fCof22*fRhs2; + + if ( fR < 0.0f ) + { + if ( fS+fT <= 1.0f ) + { + if ( fS < 0.0f ) + { + if ( fT < 0.0f ) // region 4m + { + // min on face s=0 or t=0 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 3m + { + // min on face s=0 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + } + else if ( fT < 0.0f ) // region 5m + { + // min on face t=0 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 0m + { + // min on face r=0 + fSqrDist = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + } + } + else + { + if ( fS < 0.0f ) // region 2m + { + // min on face s=0 or s+t=1 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else if ( fT < 0.0f ) // region 6m + { + // min on face t=0 or s+t=1 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 1m + { + // min on face s+t=1 or r=0 + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + } + } + else if ( fR <= 1.0f ) + { + if ( fS+fT <= 1.0f ) + { + if ( fS < 0.0f ) + { + if ( fT < 0.0f ) // region 4 + { + // min on face s=0 or t=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 3 + { + // min on face s=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + } + } + else if ( fT < 0.0f ) // region 5 + { + // min on face t=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + } + else // region 0 + { + // global minimum is interior, done + fSqrDist = fR*(fA00*fR+fA01*fS+fA02*fT+2.0f*fB0) + +fS*(fA01*fR+fA11*fS+fA12*fT+2.0f*fB1) + +fT*(fA02*fR+fA12*fS+fA22*fT+2.0f*fB2) + +kDiff.SquareMagnitude(); + } + } + else + { + if ( fS < 0.0f ) // region 2 + { + // min on face s=0 or s+t=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else if ( fT < 0.0f ) // region 6 + { + // min on face t=0 or s+t=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 1 + { + // min on face s+t=1 + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + } + } + } + else // fR > 1 + { + if ( fS+fT <= 1.0f ) + { + if ( fS < 0.0f ) + { + if ( fT < 0.0f ) // region 4p + { + // min on face s=0 or t=0 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 3p + { + // min on face s=0 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + } + else if ( fT < 0.0f ) // region 5p + { + // min on face t=0 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 0p + { + // min face on r=1 + kPt = rkSegOrigin+rkSegDirection; + fSqrDist = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + } + } + else + { + if ( fS < 0.0f ) // region 2p + { + // min on face s=0 or s+t=1 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else if ( fT < 0.0f ) // region 6p + { + // min on face t=0 or s+t=1 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 1p + { + // min on face s+t=1 or r=1 + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + } + } + } + else + { + // segment and triangle are parallel + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + + kTriSeg.mDir = TriEdge1; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1 - TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + return fabsf(fSqrDist); +} + +inline_ BOOL LSSCollider::LSSTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2) +{ + // Stats + mNbVolumePrimTests++; + + float s2 = OPC_SegmentTriangleSqrDist(mSeg, vert0, vert1, vert2); + if(s2<mRadius2) return TRUE; + return FALSE; +} diff --git a/Opcode/OPC_MeshInterface.cpp b/Opcode/OPC_MeshInterface.cpp index e4395b7..6bf0b97 100644 --- a/Opcode/OPC_MeshInterface.cpp +++ b/Opcode/OPC_MeshInterface.cpp @@ -1,299 +1,299 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a mesh interface.
- * \file OPC_MeshInterface.cpp
- * \author Pierre Terdiman
- * \date November, 27, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * This structure holds 3 vertex-pointers. It's mainly used by collision callbacks so that the app doesn't have
- * to return 3 vertices to OPCODE (36 bytes) but only 3 pointers (12 bytes). It seems better but I never profiled
- * the alternative.
- *
- * \class VertexPointers
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * This class is an interface between us and user-defined meshes. Meshes can be defined in a lot of ways, and here we
- * try to support most of them.
- *
- * Basically you have two options:
- * - callbacks, if OPC_USE_CALLBACKS is defined in OPC_Settings.h.
- * - else pointers.
- *
- * If using pointers, you can also use strides or not. Strides are used when OPC_USE_STRIDE is defined.
- *
- *
- * CALLBACKS:
- *
- * Using callbacks is the most generic way to feed OPCODE with your meshes. Indeed, you just have to give
- * access to three vertices at the end of the day. It's up to you to fetch them from your database, using
- * whatever method you want. Hence your meshes can lie in system memory or AGP, be indexed or not, use 16
- * or 32-bits indices, you can decompress them on-the-fly if needed, etc. On the other hand, a callback is
- * called each time OPCODE needs access to a particular triangle, so there might be a slight overhead.
- *
- * To make things clear: geometry & topology are NOT stored in the collision system,
- * in order to save some ram. So, when the system needs them to perform accurate intersection
- * tests, you're requested to provide the triangle-vertices corresponding to a given face index.
- *
- * Ex:
- *
- * \code
- * static void ColCallback(udword triangle_index, VertexPointers& triangle, udword user_data)
- * {
- * // Get back Mesh0 or Mesh1 (you also can use 2 different callbacks)
- * Mesh* MyMesh = (Mesh*)user_data;
- * // Get correct triangle in the app-controlled database
- * const Triangle* Tri = MyMesh->GetTriangle(triangle_index);
- * // Setup pointers to vertices for the collision system
- * triangle.Vertex[0] = MyMesh->GetVertex(Tri->mVRef[0]);
- * triangle.Vertex[1] = MyMesh->GetVertex(Tri->mVRef[1]);
- * triangle.Vertex[2] = MyMesh->GetVertex(Tri->mVRef[2]);
- * }
- *
- * // Setup callbacks
- * MeshInterface0->SetCallback(ColCallback, udword(Mesh0));
- * MeshInterface1->SetCallback(ColCallback, udword(Mesh1));
- * \endcode
- *
- * Of course, you should make this callback as fast as possible. And you're also not supposed
- * to modify the geometry *after* the collision trees have been built. The alternative was to
- * store the geometry & topology in the collision system as well (as in RAPID) but we have found
- * this approach to waste a lot of ram in many cases.
- *
- *
- * POINTERS:
- *
- * If you're internally using the following canonical structures:
- * - a vertex made of three 32-bits floating IcePoint values
- * - a triangle made of three 32-bits integer vertex references
- * ...then you may want to use pointers instead of callbacks. This is the same, except OPCODE will directly
- * use provided pointers to access the topology and geometry, without using a callback. It might be faster,
- * but probably not as safe. Pointers have been introduced in OPCODE 1.2.
- *
- * Ex:
- *
- * \code
- * // Setup pointers
- * MeshInterface0->SetPointers(Mesh0->GetFaces(), Mesh0->GetVerts());
- * MeshInterface1->SetPointers(Mesh1->GetFaces(), Mesh1->GetVerts());
- * \endcode
- *
- *
- * STRIDES:
- *
- * If your vertices are D3D-like entities interleaving a position, a normal and/or texture coordinates
- * (i.e. if your vertices are FVFs), you might want to use a vertex stride to skip extra data OPCODE
- * doesn't need. Using a stride shouldn't be notably slower than not using it, but it might increase
- * cache misses. Please also note that you *shouldn't* read from AGP or video-memory buffers !
- *
- *
- * In any case, compilation flags are here to select callbacks/pointers/strides at compile time, so
- * choose what's best for your application. All of this has been wrapped into this MeshInterface.
- *
- * \class MeshInterface
- * \author Pierre Terdiman
- * \version 1.3
- * \date November, 27, 2002
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-MeshInterface::MeshInterface() :
-#ifdef OPC_USE_CALLBACKS
- mUserData (null),
- mObjCallback (null),
-#else
- mTris (null),
- mVerts (null),
- #ifdef OPC_USE_STRIDE
- mTriStride (sizeof(IndexedTriangle)),
- mVertexStride (sizeof(IcePoint)),
- #endif
-#endif
- mNbTris (0),
- mNbVerts (0)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-MeshInterface::~MeshInterface()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks the mesh interface is valid, i.e. things have been setup correctly.
- * \return true if valid
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool MeshInterface::IsValid() const
-{
- if(!mNbTris || !mNbVerts) return false;
-#ifdef OPC_USE_CALLBACKS
- if(!mObjCallback) return false;
-#else
- if(!mTris || !mVerts) return false;
-#endif
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks the mesh itself is valid.
- * Currently we only look for degenerate faces.
- * \return number of degenerate faces
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword MeshInterface::CheckTopology() const
-{
- // Check topology. If the model contains degenerate faces, collision report can be wrong in some cases.
- // e.g. it happens with the standard MAX teapot. So clean your meshes first... If you don't have a mesh cleaner
- // you can try this: www.codercorner.com/Consolidation.zip
-
- udword NbDegenerate = 0;
-
- VertexPointers VP;
-
- // Using callbacks, we don't have access to vertex indices. Nevertheless we still can check for
- // redundant vertex pointers, which cover all possibilities (callbacks/pointers/strides).
- for(udword i=0;i<mNbTris;i++)
- {
- GetTriangle(VP, i);
-
- if( (VP.Vertex[0]==VP.Vertex[1])
- || (VP.Vertex[1]==VP.Vertex[2])
- || (VP.Vertex[2]==VP.Vertex[0])) NbDegenerate++;
- }
-
- return NbDegenerate;
-}
-
-#ifdef OPC_USE_CALLBACKS
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Callback control: setups object callback. Must provide triangle-vertices for a given triangle index.
- * \param callback [in] user-defined callback
- * \param user_data [in] user-defined data
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool MeshInterface::SetCallback(RequestCallback callback, void* user_data)
-{
- if(!callback) return SetIceError("MeshInterface::SetCallback: callback pointer is null");
-
- mObjCallback = callback;
- mUserData = user_data;
- return true;
-}
-#else
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Pointers control: setups object pointers. Must provide access to faces and vertices for a given object.
- * \param tris [in] pointer to triangles
- * \param verts [in] pointer to vertices
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool MeshInterface::SetPointers(const IndexedTriangle* tris, const IcePoint* verts)
-{
- if (!tris || !verts) return SetIceError; // ("MeshInterface::SetPointers: pointer is null", null);
-
- mTris = tris;
- mVerts = verts;
- return true;
-}
-#ifdef OPC_USE_STRIDE
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Strides control
- * \param tri_stride [in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices.
- * \param vertex_stride [in] size of a vertex in bytes. The first sizeof(IcePoint) bytes are used to get vertex position.
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool MeshInterface::SetStrides(udword tri_stride, udword vertex_stride)
-{
- if (tri_stride < sizeof(IndexedTriangle)) return SetIceError; // ("MeshInterface::SetStrides: invalid triangle stride", null);
- if (vertex_stride < sizeof(IcePoint)) return SetIceError; // ("MeshInterface::SetStrides: invalid vertex stride", null);
-
- mTriStride = tri_stride;
- mVertexStride = vertex_stride;
- return true;
-}
-#endif
-#endif
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Remaps client's mesh according to a permutation.
- * \param nb_indices [in] number of indices in the permutation (will be checked against number of triangles)
- * \param permutation [in] list of triangle indices
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool MeshInterface::RemapClient(udword nb_indices, const udword* permutation) const
-{
- // Checkings
- if(!nb_indices || !permutation) return false;
- if(nb_indices!=mNbTris) return false;
-
-#ifdef OPC_USE_CALLBACKS
- // We can't really do that using callbacks
- return false;
-#else
- IndexedTriangle* Tmp = new IndexedTriangle[mNbTris];
- CHECKALLOC(Tmp);
-
- #ifdef OPC_USE_STRIDE
- udword Stride = mTriStride;
- #else
- udword Stride = sizeof(IndexedTriangle);
- #endif
-
- for(udword i=0;i<mNbTris;i++)
- {
- const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + i * Stride);
- Tmp[i] = *T;
- }
-
- for(udword i=0;i<mNbTris;i++)
- {
- IndexedTriangle* T = (IndexedTriangle*)(((ubyte*)mTris) + i * Stride);
- *T = Tmp[permutation[i]];
- }
-
- DELETEARRAY(Tmp);
-#endif
- return true;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a mesh interface. + * \file OPC_MeshInterface.cpp + * \author Pierre Terdiman + * \date November, 27, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This structure holds 3 vertex-pointers. It's mainly used by collision callbacks so that the app doesn't have + * to return 3 vertices to OPCODE (36 bytes) but only 3 pointers (12 bytes). It seems better but I never profiled + * the alternative. + * + * \class VertexPointers + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This class is an interface between us and user-defined meshes. Meshes can be defined in a lot of ways, and here we + * try to support most of them. + * + * Basically you have two options: + * - callbacks, if OPC_USE_CALLBACKS is defined in OPC_Settings.h. + * - else pointers. + * + * If using pointers, you can also use strides or not. Strides are used when OPC_USE_STRIDE is defined. + * + * + * CALLBACKS: + * + * Using callbacks is the most generic way to feed OPCODE with your meshes. Indeed, you just have to give + * access to three vertices at the end of the day. It's up to you to fetch them from your database, using + * whatever method you want. Hence your meshes can lie in system memory or AGP, be indexed or not, use 16 + * or 32-bits indices, you can decompress them on-the-fly if needed, etc. On the other hand, a callback is + * called each time OPCODE needs access to a particular triangle, so there might be a slight overhead. + * + * To make things clear: geometry & topology are NOT stored in the collision system, + * in order to save some ram. So, when the system needs them to perform accurate intersection + * tests, you're requested to provide the triangle-vertices corresponding to a given face index. + * + * Ex: + * + * \code + * static void ColCallback(udword triangle_index, VertexPointers& triangle, udword user_data) + * { + * // Get back Mesh0 or Mesh1 (you also can use 2 different callbacks) + * Mesh* MyMesh = (Mesh*)user_data; + * // Get correct triangle in the app-controlled database + * const Triangle* Tri = MyMesh->GetTriangle(triangle_index); + * // Setup pointers to vertices for the collision system + * triangle.Vertex[0] = MyMesh->GetVertex(Tri->mVRef[0]); + * triangle.Vertex[1] = MyMesh->GetVertex(Tri->mVRef[1]); + * triangle.Vertex[2] = MyMesh->GetVertex(Tri->mVRef[2]); + * } + * + * // Setup callbacks + * MeshInterface0->SetCallback(ColCallback, udword(Mesh0)); + * MeshInterface1->SetCallback(ColCallback, udword(Mesh1)); + * \endcode + * + * Of course, you should make this callback as fast as possible. And you're also not supposed + * to modify the geometry *after* the collision trees have been built. The alternative was to + * store the geometry & topology in the collision system as well (as in RAPID) but we have found + * this approach to waste a lot of ram in many cases. + * + * + * POINTERS: + * + * If you're internally using the following canonical structures: + * - a vertex made of three 32-bits floating IcePoint values + * - a triangle made of three 32-bits integer vertex references + * ...then you may want to use pointers instead of callbacks. This is the same, except OPCODE will directly + * use provided pointers to access the topology and geometry, without using a callback. It might be faster, + * but probably not as safe. Pointers have been introduced in OPCODE 1.2. + * + * Ex: + * + * \code + * // Setup pointers + * MeshInterface0->SetPointers(Mesh0->GetFaces(), Mesh0->GetVerts()); + * MeshInterface1->SetPointers(Mesh1->GetFaces(), Mesh1->GetVerts()); + * \endcode + * + * + * STRIDES: + * + * If your vertices are D3D-like entities interleaving a position, a normal and/or texture coordinates + * (i.e. if your vertices are FVFs), you might want to use a vertex stride to skip extra data OPCODE + * doesn't need. Using a stride shouldn't be notably slower than not using it, but it might increase + * cache misses. Please also note that you *shouldn't* read from AGP or video-memory buffers ! + * + * + * In any case, compilation flags are here to select callbacks/pointers/strides at compile time, so + * choose what's best for your application. All of this has been wrapped into this MeshInterface. + * + * \class MeshInterface + * \author Pierre Terdiman + * \version 1.3 + * \date November, 27, 2002 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +MeshInterface::MeshInterface() : +#ifdef OPC_USE_CALLBACKS + mUserData (null), + mObjCallback (null), +#else + mTris (null), + mVerts (null), + #ifdef OPC_USE_STRIDE + mTriStride (sizeof(IndexedTriangle)), + mVertexStride (sizeof(IcePoint)), + #endif +#endif + mNbTris (0), + mNbVerts (0) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +MeshInterface::~MeshInterface() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the mesh interface is valid, i.e. things have been setup correctly. + * \return true if valid + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::IsValid() const +{ + if(!mNbTris || !mNbVerts) return false; +#ifdef OPC_USE_CALLBACKS + if(!mObjCallback) return false; +#else + if(!mTris || !mVerts) return false; +#endif + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the mesh itself is valid. + * Currently we only look for degenerate faces. + * \return number of degenerate faces + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword MeshInterface::CheckTopology() const +{ + // Check topology. If the model contains degenerate faces, collision report can be wrong in some cases. + // e.g. it happens with the standard MAX teapot. So clean your meshes first... If you don't have a mesh cleaner + // you can try this: www.codercorner.com/Consolidation.zip + + udword NbDegenerate = 0; + + VertexPointers VP; + + // Using callbacks, we don't have access to vertex indices. Nevertheless we still can check for + // redundant vertex pointers, which cover all possibilities (callbacks/pointers/strides). + for(udword i=0;i<mNbTris;i++) + { + GetTriangle(VP, i); + + if( (VP.Vertex[0]==VP.Vertex[1]) + || (VP.Vertex[1]==VP.Vertex[2]) + || (VP.Vertex[2]==VP.Vertex[0])) NbDegenerate++; + } + + return NbDegenerate; +} + +#ifdef OPC_USE_CALLBACKS +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Callback control: setups object callback. Must provide triangle-vertices for a given triangle index. + * \param callback [in] user-defined callback + * \param user_data [in] user-defined data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::SetCallback(RequestCallback callback, void* user_data) +{ + if(!callback) return SetIceError("MeshInterface::SetCallback: callback pointer is null"); + + mObjCallback = callback; + mUserData = user_data; + return true; +} +#else +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Pointers control: setups object pointers. Must provide access to faces and vertices for a given object. + * \param tris [in] pointer to triangles + * \param verts [in] pointer to vertices + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::SetPointers(const IndexedTriangle* tris, const IcePoint* verts) +{ + if (!tris || !verts) return SetIceError; // ("MeshInterface::SetPointers: pointer is null", null); + + mTris = tris; + mVerts = verts; + return true; +} +#ifdef OPC_USE_STRIDE +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Strides control + * \param tri_stride [in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices. + * \param vertex_stride [in] size of a vertex in bytes. The first sizeof(IcePoint) bytes are used to get vertex position. + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::SetStrides(udword tri_stride, udword vertex_stride) +{ + if (tri_stride < sizeof(IndexedTriangle)) return SetIceError; // ("MeshInterface::SetStrides: invalid triangle stride", null); + if (vertex_stride < sizeof(IcePoint)) return SetIceError; // ("MeshInterface::SetStrides: invalid vertex stride", null); + + mTriStride = tri_stride; + mVertexStride = vertex_stride; + return true; +} +#endif +#endif + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Remaps client's mesh according to a permutation. + * \param nb_indices [in] number of indices in the permutation (will be checked against number of triangles) + * \param permutation [in] list of triangle indices + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::RemapClient(udword nb_indices, const udword* permutation) const +{ + // Checkings + if(!nb_indices || !permutation) return false; + if(nb_indices!=mNbTris) return false; + +#ifdef OPC_USE_CALLBACKS + // We can't really do that using callbacks + return false; +#else + IndexedTriangle* Tmp = new IndexedTriangle[mNbTris]; + CHECKALLOC(Tmp); + + #ifdef OPC_USE_STRIDE + udword Stride = mTriStride; + #else + udword Stride = sizeof(IndexedTriangle); + #endif + + for(udword i=0;i<mNbTris;i++) + { + const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + i * Stride); + Tmp[i] = *T; + } + + for(udword i=0;i<mNbTris;i++) + { + IndexedTriangle* T = (IndexedTriangle*)(((ubyte*)mTris) + i * Stride); + *T = Tmp[permutation[i]]; + } + + DELETEARRAY(Tmp); +#endif + return true; +} diff --git a/Opcode/OPC_MeshInterface.h b/Opcode/OPC_MeshInterface.h index f14d536..c62d3cf 100644 --- a/Opcode/OPC_MeshInterface.h +++ b/Opcode/OPC_MeshInterface.h @@ -1,182 +1,182 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a mesh interface.
- * \file OPC_MeshInterface.h
- * \author Pierre Terdiman
- * \date November, 27, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_MESHINTERFACE_H__
-#define __OPC_MESHINTERFACE_H__
-
- struct VertexPointers
- {
- const IcePoint* Vertex[3];
-
- bool BackfaceCulling(const IcePoint& source)
- {
- const IcePoint& p0 = *Vertex[0];
- const IcePoint& p1 = *Vertex[1];
- const IcePoint& p2 = *Vertex[2];
-
- // Compute normal direction
- IcePoint Normal = (p2 - p1)^(p0 - p1);
-
- // Backface culling
- return (Normal | (source - p0)) >= 0.0f;
- }
- };
-
-#ifdef OPC_USE_CALLBACKS
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * User-callback, called by OPCODE to request vertices from the app.
- * \param triangle_index [in] face index for which the system is requesting the vertices
- * \param triangle [out] triangle's vertices (must be provided by the user)
- * \param user_data [in] user-defined data from SetCallback()
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- typedef void (*RequestCallback) (udword triangle_index, VertexPointers& triangle, void* user_data);
-#endif
-
- class OPCODE_API MeshInterface
- {
- public:
- // Constructor / Destructor
- MeshInterface();
- ~MeshInterface();
- // Common settings
- inline_ udword GetNbTriangles() const { return mNbTris; }
- inline_ udword GetNbVertices() const { return mNbVerts; }
- inline_ void SetNbTriangles(udword nb) { mNbTris = nb; }
- inline_ void SetNbVertices(udword nb) { mNbVerts = nb; }
-
-#ifdef OPC_USE_CALLBACKS
- // Callback settings
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Callback control: setups object callback. Must provide triangle-vertices for a given triangle index.
- * \param callback [in] user-defined callback
- * \param user_data [in] user-defined data
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool SetCallback(RequestCallback callback, void* user_data);
- inline_ void* GetUserData() const { return mUserData; }
- inline_ RequestCallback GetCallback() const { return mObjCallback; }
-#else
- // Pointers settings
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Pointers control: setups object pointers. Must provide access to faces and vertices for a given object.
- * \param tris [in] pointer to triangles
- * \param verts [in] pointer to vertices
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool SetPointers(const IndexedTriangle* tris, const IcePoint* verts);
- inline_ const IndexedTriangle* GetTris() const { return mTris; }
- inline_ const IcePoint* GetVerts() const { return mVerts; }
-
- #ifdef OPC_USE_STRIDE
- // Strides settings
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Strides control
- * \param tri_stride [in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices.
- * \param vertex_stride [in] size of a vertex in bytes. The first sizeof(IcePoint) bytes are used to get vertex position.
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool SetStrides(udword tri_stride=sizeof(IndexedTriangle), udword vertex_stride=sizeof(IcePoint));
- inline_ udword GetTriStride() const { return mTriStride; }
- inline_ udword GetVertexStride() const { return mVertexStride; }
- #endif
-#endif
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Fetches a triangle given a triangle index.
- * \param vp [out] required triangle's vertex pointers
- * \param index [in] triangle index
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void GetTriangle(VertexPointers& vp, udword index) const
- {
-#ifdef OPC_USE_CALLBACKS
- (mObjCallback)(index, vp, mUserData);
-#else
- #ifdef OPC_USE_STRIDE
- const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + index * mTriStride);
- vp.Vertex[0] = (const IcePoint*)(((ubyte*)mVerts) + T->mVRef[0] * mVertexStride);
- vp.Vertex[1] = (const IcePoint*)(((ubyte*)mVerts) + T->mVRef[1] * mVertexStride);
- vp.Vertex[2] = (const IcePoint*)(((ubyte*)mVerts) + T->mVRef[2] * mVertexStride);
- #else
- const IndexedTriangle* T = &mTris[index];
- vp.Vertex[0] = &mVerts[T->mVRef[0]];
- vp.Vertex[1] = &mVerts[T->mVRef[1]];
- vp.Vertex[2] = &mVerts[T->mVRef[2]];
- #endif
-#endif
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Remaps client's mesh according to a permutation.
- * \param nb_indices [in] number of indices in the permutation (will be checked against number of triangles)
- * \param permutation [in] list of triangle indices
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool RemapClient(udword nb_indices, const udword* permutation) const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks the mesh interface is valid, i.e. things have been setup correctly.
- * \return true if valid
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool IsValid() const;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Checks the mesh itself is valid.
- * Currently we only look for degenerate faces.
- * \return number of degenerate faces
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- udword CheckTopology() const;
- private:
-
- udword mNbTris; //!< Number of triangles in the input model
- udword mNbVerts; //!< Number of vertices in the input model
-#ifdef OPC_USE_CALLBACKS
- // User callback
- void* mUserData; //!< User-defined data sent to callback
- RequestCallback mObjCallback; //!< Object callback
-#else
- // User pointers
- const IndexedTriangle* mTris; //!< Array of indexed triangles
- const IcePoint* mVerts; //!< Array of vertices
- #ifdef OPC_USE_STRIDE
- udword mTriStride; //!< Possible triangle stride in bytes [Opcode 1.3]
- udword mVertexStride; //!< Possible vertex stride in bytes [Opcode 1.3]
- #endif
-#endif
- };
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a mesh interface. + * \file OPC_MeshInterface.h + * \author Pierre Terdiman + * \date November, 27, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_MESHINTERFACE_H__ +#define __OPC_MESHINTERFACE_H__ + + struct VertexPointers + { + const IcePoint* Vertex[3]; + + bool BackfaceCulling(const IcePoint& source) + { + const IcePoint& p0 = *Vertex[0]; + const IcePoint& p1 = *Vertex[1]; + const IcePoint& p2 = *Vertex[2]; + + // Compute normal direction + IcePoint Normal = (p2 - p1)^(p0 - p1); + + // Backface culling + return (Normal | (source - p0)) >= 0.0f; + } + }; + +#ifdef OPC_USE_CALLBACKS + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * User-callback, called by OPCODE to request vertices from the app. + * \param triangle_index [in] face index for which the system is requesting the vertices + * \param triangle [out] triangle's vertices (must be provided by the user) + * \param user_data [in] user-defined data from SetCallback() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + typedef void (*RequestCallback) (udword triangle_index, VertexPointers& triangle, void* user_data); +#endif + + class OPCODE_API MeshInterface + { + public: + // Constructor / Destructor + MeshInterface(); + ~MeshInterface(); + // Common settings + inline_ udword GetNbTriangles() const { return mNbTris; } + inline_ udword GetNbVertices() const { return mNbVerts; } + inline_ void SetNbTriangles(udword nb) { mNbTris = nb; } + inline_ void SetNbVertices(udword nb) { mNbVerts = nb; } + +#ifdef OPC_USE_CALLBACKS + // Callback settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Callback control: setups object callback. Must provide triangle-vertices for a given triangle index. + * \param callback [in] user-defined callback + * \param user_data [in] user-defined data + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool SetCallback(RequestCallback callback, void* user_data); + inline_ void* GetUserData() const { return mUserData; } + inline_ RequestCallback GetCallback() const { return mObjCallback; } +#else + // Pointers settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Pointers control: setups object pointers. Must provide access to faces and vertices for a given object. + * \param tris [in] pointer to triangles + * \param verts [in] pointer to vertices + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool SetPointers(const IndexedTriangle* tris, const IcePoint* verts); + inline_ const IndexedTriangle* GetTris() const { return mTris; } + inline_ const IcePoint* GetVerts() const { return mVerts; } + + #ifdef OPC_USE_STRIDE + // Strides settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Strides control + * \param tri_stride [in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices. + * \param vertex_stride [in] size of a vertex in bytes. The first sizeof(IcePoint) bytes are used to get vertex position. + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool SetStrides(udword tri_stride=sizeof(IndexedTriangle), udword vertex_stride=sizeof(IcePoint)); + inline_ udword GetTriStride() const { return mTriStride; } + inline_ udword GetVertexStride() const { return mVertexStride; } + #endif +#endif + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Fetches a triangle given a triangle index. + * \param vp [out] required triangle's vertex pointers + * \param index [in] triangle index + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void GetTriangle(VertexPointers& vp, udword index) const + { +#ifdef OPC_USE_CALLBACKS + (mObjCallback)(index, vp, mUserData); +#else + #ifdef OPC_USE_STRIDE + const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + index * mTriStride); + vp.Vertex[0] = (const IcePoint*)(((ubyte*)mVerts) + T->mVRef[0] * mVertexStride); + vp.Vertex[1] = (const IcePoint*)(((ubyte*)mVerts) + T->mVRef[1] * mVertexStride); + vp.Vertex[2] = (const IcePoint*)(((ubyte*)mVerts) + T->mVRef[2] * mVertexStride); + #else + const IndexedTriangle* T = &mTris[index]; + vp.Vertex[0] = &mVerts[T->mVRef[0]]; + vp.Vertex[1] = &mVerts[T->mVRef[1]]; + vp.Vertex[2] = &mVerts[T->mVRef[2]]; + #endif +#endif + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Remaps client's mesh according to a permutation. + * \param nb_indices [in] number of indices in the permutation (will be checked against number of triangles) + * \param permutation [in] list of triangle indices + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool RemapClient(udword nb_indices, const udword* permutation) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the mesh interface is valid, i.e. things have been setup correctly. + * \return true if valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool IsValid() const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the mesh itself is valid. + * Currently we only look for degenerate faces. + * \return number of degenerate faces + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + udword CheckTopology() const; + private: + + udword mNbTris; //!< Number of triangles in the input model + udword mNbVerts; //!< Number of vertices in the input model +#ifdef OPC_USE_CALLBACKS + // User callback + void* mUserData; //!< User-defined data sent to callback + RequestCallback mObjCallback; //!< Object callback +#else + // User pointers + const IndexedTriangle* mTris; //!< Array of indexed triangles + const IcePoint* mVerts; //!< Array of vertices + #ifdef OPC_USE_STRIDE + udword mTriStride; //!< Possible triangle stride in bytes [Opcode 1.3] + udword mVertexStride; //!< Possible vertex stride in bytes [Opcode 1.3] + #endif +#endif + }; + #endif //__OPC_MESHINTERFACE_H__
\ No newline at end of file diff --git a/Opcode/OPC_Model.cpp b/Opcode/OPC_Model.cpp index f758ad3..a9e660c 100644 --- a/Opcode/OPC_Model.cpp +++ b/Opcode/OPC_Model.cpp @@ -1,222 +1,222 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for OPCODE models.
- * \file OPC_Model.cpp
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * The main collision wrapper, for all trees. Supported trees are:
- * - Normal trees (2*N-1 nodes, full size)
- * - No-leaf trees (N-1 nodes, full size)
- * - Quantized trees (2*N-1 nodes, half size)
- * - Quantized no-leaf trees (N-1 nodes, half size)
- *
- * Usage:
- *
- * 1) Create a static mesh interface using callbacks or pointers. (see OPC_MeshInterface.cpp).
- * Keep it around in your app, since a pointer to this interface is saved internally and
- * used until you release the collision structures.
- *
- * 2) Build a Model using a creation structure:
- *
- * \code
- * Model Sample;
- *
- * OPCODECREATE OPCC;
- * OPCC.IMesh = ...;
- * OPCC.Rules = ...;
- * OPCC.NoLeaf = ...;
- * OPCC.Quantized = ...;
- * OPCC.KeepOriginal = ...;
- * bool Status = Sample.Build(OPCC);
- * \endcode
- *
- * 3) Create a tree collider and set it up:
- *
- * \code
- * AABBTreeCollider TC;
- * TC.SetFirstContact(...);
- * TC.SetFullBoxBoxTest(...);
- * TC.SetFullPrimBoxTest(...);
- * TC.SetTemporalCoherence(...);
- * \endcode
- *
- * 4) Perform a collision query
- *
- * \code
- * // Setup cache
- * static BVTCache ColCache;
- * ColCache.Model0 = &Model0;
- * ColCache.Model1 = &Model1;
- *
- * // Collision query
- * bool IsOk = TC.Collide(ColCache, World0, World1);
- *
- * // Get collision status => if true, objects overlap
- * BOOL Status = TC.GetContactStatus();
- *
- * // Number of colliding pairs and list of pairs
- * udword NbPairs = TC.GetNbPairs();
- * const Pair* p = TC.GetPairs()
- * \endcode
- *
- * 5) Stats
- *
- * \code
- * Model0.GetUsedBytes() = number of bytes used for this collision tree
- * TC.GetNbBVBVTests() = number of BV-BV overlap tests performed during last query
- * TC.GetNbPrimPrimTests() = number of Triangle-Triangle overlap tests performed during last query
- * TC.GetNbBVPrimTests() = number of Triangle-BV overlap tests performed during last query
- * \endcode
- *
- * \class Model
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Model::Model()
-{
-#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
- mHull = null;
-#endif // __MESHMERIZER_H__
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-Model::~Model()
-{
- Release();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Releases the model.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void Model::Release()
-{
- ReleaseBase();
-#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
- DELETESINGLE(mHull);
-#endif // __MESHMERIZER_H__
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds a collision model.
- * \param create [in] model creation structure
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool Model::Build(const OPCODECREATE& create)
-{
- // 1) Checkings
- if(!create.mIMesh || !create.mIMesh->IsValid()) return false;
-
- // For this model, we only support complete trees
- if (create.mSettings.mLimit != 1) return SetIceError; // ("OPCODE WARNING: supports complete trees only! Use mLimit = 1.\n", null);
-
- // Look for degenerate faces.
- udword NbDegenerate = create.mIMesh->CheckTopology();
- if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate);
- // We continue nonetheless....
-
- Release(); // Make sure previous tree has been discarded [Opcode 1.3, thanks Adam]
-
- // 1-1) Setup mesh interface automatically [Opcode 1.3]
- SetMeshInterface(create.mIMesh);
-
- // Special case for 1-triangle meshes [Opcode 1.3]
- udword NbTris = create.mIMesh->GetNbTriangles();
- if(NbTris==1)
- {
- // We don't need to actually create a tree here, since we'll only have a single triangle to deal with anyway.
- // It's a waste to use a "model" for this but at least it will work.
- mModelCode |= OPC_SINGLE_NODE;
- return true;
- }
-
- // 2) Build a generic AABB Tree.
- mSource = new AABBTree;
- CHECKALLOC(mSource);
-
- // 2-1) Setup a builder. Our primitives here are triangles from input mesh,
- // so we use an AABBTreeOfTrianglesBuilder.....
- {
- AABBTreeOfTrianglesBuilder TB;
- TB.mIMesh = create.mIMesh;
- TB.mSettings = create.mSettings;
- TB.mNbPrimitives = NbTris;
- if(!mSource->Build(&TB)) return false;
- }
-
- // 3) Create an optimized tree according to user-settings
- if(!CreateTree(create.mNoLeaf, create.mQuantized)) return false;
-
- // 3-2) Create optimized tree
- if(!mTree->Build(mSource)) return false;
-
- // 3-3) Delete generic tree if needed
- if(!create.mKeepOriginal) DELETESINGLE(mSource);
-
-#ifdef __MESHMERIZER_H__
- // 4) Convex hull
- if(create.mCollisionHull)
- {
- // Create hull
- mHull = new CollisionHull;
- CHECKALLOC(mHull);
-
- CONVEXHULLCREATE CHC;
- // ### doesn't work with strides
- CHC.NbVerts = create.mIMesh->GetNbVertices();
- CHC.Vertices = create.mIMesh->GetVerts();
- CHC.UnifyNormals = true;
- CHC.ReduceVertices = true;
- CHC.WordFaces = false;
- mHull->Compute(CHC);
- }
-#endif // __MESHMERIZER_H__
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets the number of bytes used by the tree.
- * \return amount of bytes used
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword Model::GetUsedBytes() const
-{
- if(!mTree) return 0;
- return mTree->GetUsedBytes();
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for OPCODE models. + * \file OPC_Model.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * The main collision wrapper, for all trees. Supported trees are: + * - Normal trees (2*N-1 nodes, full size) + * - No-leaf trees (N-1 nodes, full size) + * - Quantized trees (2*N-1 nodes, half size) + * - Quantized no-leaf trees (N-1 nodes, half size) + * + * Usage: + * + * 1) Create a static mesh interface using callbacks or pointers. (see OPC_MeshInterface.cpp). + * Keep it around in your app, since a pointer to this interface is saved internally and + * used until you release the collision structures. + * + * 2) Build a Model using a creation structure: + * + * \code + * Model Sample; + * + * OPCODECREATE OPCC; + * OPCC.IMesh = ...; + * OPCC.Rules = ...; + * OPCC.NoLeaf = ...; + * OPCC.Quantized = ...; + * OPCC.KeepOriginal = ...; + * bool Status = Sample.Build(OPCC); + * \endcode + * + * 3) Create a tree collider and set it up: + * + * \code + * AABBTreeCollider TC; + * TC.SetFirstContact(...); + * TC.SetFullBoxBoxTest(...); + * TC.SetFullPrimBoxTest(...); + * TC.SetTemporalCoherence(...); + * \endcode + * + * 4) Perform a collision query + * + * \code + * // Setup cache + * static BVTCache ColCache; + * ColCache.Model0 = &Model0; + * ColCache.Model1 = &Model1; + * + * // Collision query + * bool IsOk = TC.Collide(ColCache, World0, World1); + * + * // Get collision status => if true, objects overlap + * BOOL Status = TC.GetContactStatus(); + * + * // Number of colliding pairs and list of pairs + * udword NbPairs = TC.GetNbPairs(); + * const Pair* p = TC.GetPairs() + * \endcode + * + * 5) Stats + * + * \code + * Model0.GetUsedBytes() = number of bytes used for this collision tree + * TC.GetNbBVBVTests() = number of BV-BV overlap tests performed during last query + * TC.GetNbPrimPrimTests() = number of Triangle-Triangle overlap tests performed during last query + * TC.GetNbBVPrimTests() = number of Triangle-BV overlap tests performed during last query + * \endcode + * + * \class Model + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Model::Model() +{ +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + mHull = null; +#endif // __MESHMERIZER_H__ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Model::~Model() +{ + Release(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Releases the model. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Model::Release() +{ + ReleaseBase(); +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + DELETESINGLE(mHull); +#endif // __MESHMERIZER_H__ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Model::Build(const OPCODECREATE& create) +{ + // 1) Checkings + if(!create.mIMesh || !create.mIMesh->IsValid()) return false; + + // For this model, we only support complete trees + if (create.mSettings.mLimit != 1) return SetIceError; // ("OPCODE WARNING: supports complete trees only! Use mLimit = 1.\n", null); + + // Look for degenerate faces. + udword NbDegenerate = create.mIMesh->CheckTopology(); + if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate); + // We continue nonetheless.... + + Release(); // Make sure previous tree has been discarded [Opcode 1.3, thanks Adam] + + // 1-1) Setup mesh interface automatically [Opcode 1.3] + SetMeshInterface(create.mIMesh); + + // Special case for 1-triangle meshes [Opcode 1.3] + udword NbTris = create.mIMesh->GetNbTriangles(); + if(NbTris==1) + { + // We don't need to actually create a tree here, since we'll only have a single triangle to deal with anyway. + // It's a waste to use a "model" for this but at least it will work. + mModelCode |= OPC_SINGLE_NODE; + return true; + } + + // 2) Build a generic AABB Tree. + mSource = new AABBTree; + CHECKALLOC(mSource); + + // 2-1) Setup a builder. Our primitives here are triangles from input mesh, + // so we use an AABBTreeOfTrianglesBuilder..... + { + AABBTreeOfTrianglesBuilder TB; + TB.mIMesh = create.mIMesh; + TB.mSettings = create.mSettings; + TB.mNbPrimitives = NbTris; + if(!mSource->Build(&TB)) return false; + } + + // 3) Create an optimized tree according to user-settings + if(!CreateTree(create.mNoLeaf, create.mQuantized)) return false; + + // 3-2) Create optimized tree + if(!mTree->Build(mSource)) return false; + + // 3-3) Delete generic tree if needed + if(!create.mKeepOriginal) DELETESINGLE(mSource); + +#ifdef __MESHMERIZER_H__ + // 4) Convex hull + if(create.mCollisionHull) + { + // Create hull + mHull = new CollisionHull; + CHECKALLOC(mHull); + + CONVEXHULLCREATE CHC; + // ### doesn't work with strides + CHC.NbVerts = create.mIMesh->GetNbVertices(); + CHC.Vertices = create.mIMesh->GetVerts(); + CHC.UnifyNormals = true; + CHC.ReduceVertices = true; + CHC.WordFaces = false; + mHull->Compute(CHC); + } +#endif // __MESHMERIZER_H__ + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword Model::GetUsedBytes() const +{ + if(!mTree) return 0; + return mTree->GetUsedBytes(); +} diff --git a/Opcode/OPC_Model.h b/Opcode/OPC_Model.h index 1d7e1e4..1b39e60 100644 --- a/Opcode/OPC_Model.h +++ b/Opcode/OPC_Model.h @@ -1,65 +1,65 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for OPCODE models.
- * \file OPC_Model.h
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_MODEL_H__
-#define __OPC_MODEL_H__
-
- class OPCODE_API Model : public BaseModel
- {
- public:
- // Constructor/Destructor
- Model();
- virtual ~Model();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Builds a collision model.
- * \param create [in] model creation structure
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(BaseModel) bool Build(const OPCODECREATE& create);
-
-#ifdef __MESHMERIZER_H__
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the collision hull.
- * \return the collision hull if it exists
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ const CollisionHull* GetHull() const { return mHull; }
-#endif // __MESHMERIZER_H__
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the number of bytes used by the tree.
- * \return amount of bytes used
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(BaseModel) udword GetUsedBytes() const;
-
- private:
-#ifdef __MESHMERIZER_H__
- CollisionHull* mHull; //!< Possible convex hull
-#endif // __MESHMERIZER_H__
- // Internal methods
- void Release();
- };
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for OPCODE models. + * \file OPC_Model.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_MODEL_H__ +#define __OPC_MODEL_H__ + + class OPCODE_API Model : public BaseModel + { + public: + // Constructor/Destructor + Model(); + virtual ~Model(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) bool Build(const OPCODECREATE& create); + +#ifdef __MESHMERIZER_H__ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the collision hull. + * \return the collision hull if it exists + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const CollisionHull* GetHull() const { return mHull; } +#endif // __MESHMERIZER_H__ + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) udword GetUsedBytes() const; + + private: +#ifdef __MESHMERIZER_H__ + CollisionHull* mHull; //!< Possible convex hull +#endif // __MESHMERIZER_H__ + // Internal methods + void Release(); + }; + #endif //__OPC_MODEL_H__
\ No newline at end of file diff --git a/Opcode/OPC_OBBCollider.cpp b/Opcode/OPC_OBBCollider.cpp index 1803350..8761fce 100644 --- a/Opcode/OPC_OBBCollider.cpp +++ b/Opcode/OPC_OBBCollider.cpp @@ -1,767 +1,767 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for an OBB collider.
- * \file OPC_OBBCollider.cpp
- * \author Pierre Terdiman
- * \date January, 1st, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains an OBB-vs-tree collider.
- *
- * \class OBBCollider
- * \author Pierre Terdiman
- * \version 1.3
- * \date January, 1st, 2002
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-#include "OPC_BoxBoxOverlap.h"
-#include "OPC_TriBoxOverlap.h"
-
-#define SET_CONTACT(prim_index, flag) \
- /* Set contact status */ \
- mFlags |= flag; \
- mTouchedPrimitives->Add(prim_index);
-
-//! OBB-triangle test
-#define OBB_PRIM(prim_index, flag) \
- /* Request vertices from the app */ \
- VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \
- /* Transform them in a common space */ \
- TransformPoint(mLeafVerts[0], *VP.Vertex[0], mRModelToBox, mTModelToBox); \
- TransformPoint(mLeafVerts[1], *VP.Vertex[1], mRModelToBox, mTModelToBox); \
- TransformPoint(mLeafVerts[2], *VP.Vertex[2], mRModelToBox, mTModelToBox); \
- /* Perform triangle-box overlap test */ \
- if(TriBoxOverlap()) \
- { \
- SET_CONTACT(prim_index, flag) \
- }
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-OBBCollider::OBBCollider() : mFullBoxBoxTest(true)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-OBBCollider::~OBBCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Validates current settings. You should call this method after all the settings and callbacks have been defined.
- * \return null if everything is ok, else a string describing the problem
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const char* OBBCollider::ValidateSettings()
-{
- if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!";
-
- return VolumeCollider::ValidateSettings();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Generic collision query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - with GetNbTouchedPrimitives()
- * - with GetTouchedPrimitives()
- *
- * \param cache [in/out] a box cache
- * \param box [in] collision OBB in local space
- * \param model [in] Opcode model to collide with
- * \param worldb [in] OBB'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 OBBCollider::Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb, const Matrix4x4* worldm)
-{
- // Checkings
- if(!Setup(&model)) return false;
-
- // Init collision query
- if(InitQuery(cache, box, worldb, 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 box cache
- * \param box [in] obb in local space
- * \param worldb [in] obb'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 OBBCollider::InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb, const Matrix4x4* worldm)
-{
- // 1) Call the base method
- VolumeCollider::InitQuery();
-
- // 2) Compute obb in world space
- mBoxExtents = box.mExtents;
-
- Matrix4x4 WorldB;
-
- if(worldb)
- {
- WorldB = Matrix4x4( box.mRot * Matrix3x3(*worldb) );
- WorldB.SetTrans(box.mCenter * *worldb);
- }
- else
- {
- WorldB = box.mRot;
- WorldB.SetTrans(box.mCenter);
- }
-
- // Setup matrices
- Matrix4x4 InvWorldB;
- InvertPRMatrix(InvWorldB, WorldB);
-
- if(worldm)
- {
- Matrix4x4 InvWorldM;
- InvertPRMatrix(InvWorldM, *worldm);
-
- Matrix4x4 WorldBtoM = WorldB * InvWorldM;
- Matrix4x4 WorldMtoB = *worldm * InvWorldB;
-
- mRModelToBox = WorldMtoB; WorldMtoB.GetTrans(mTModelToBox);
- mRBoxToModel = WorldBtoM; WorldBtoM.GetTrans(mTBoxToModel);
- }
- else
- {
- mRModelToBox = InvWorldB; InvWorldB.GetTrans(mTModelToBox);
- mRBoxToModel = WorldB; WorldB.GetTrans(mTBoxToModel);
- }
-
- // 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 box (and set contact status if needed)
- OBB_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 box (and set contact status if needed)
- OBB_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
- {
- // ### rewrite this
- OBB TestBox(mTBoxToModel, mBoxExtents, mRBoxToModel);
-
- // We're interested in all contacts =>test the new real box N(ew) against the previous fat box P(revious):
- if(IsCacheValid(cache) && TestBox.IsInside(cache.FatBox))
- {
- // - 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 box so that coherence will work for subsequent frames
- TestBox.mExtents *= cache.FatCoeff;
- mBoxExtents *= cache.FatCoeff;
-
- // Update cache with query data (signature for cached faces)
- cache.FatBox = TestBox;
- }
- }
- }
- else
- {
- // Here we don't use temporal coherence => do a normal query
- mTouchedPrimitives->Reset();
- }
-
- // Now we can precompute box-box data
-
- // Precompute absolute box-to-model rotation matrix
- for(udword i=0;i<3;i++)
- {
- for(udword j=0;j<3;j++)
- {
- // Epsilon value prevents floating-IcePoint inaccuracies (strategy borrowed from RAPID)
- mAR.m[i][j] = 1e-6f + fabsf(mRBoxToModel.m[i][j]);
- }
- }
-
- // Precompute bounds for box-in-box test
- mB0 = mBoxExtents - mTModelToBox;
- mB1 = - mBoxExtents - mTModelToBox;
-
- // Precompute box-box data - Courtesy of Erwin de Vries
- mBBx1 = mBoxExtents.x*mAR.m[0][0] + mBoxExtents.y*mAR.m[1][0] + mBoxExtents.z*mAR.m[2][0];
- mBBy1 = mBoxExtents.x*mAR.m[0][1] + mBoxExtents.y*mAR.m[1][1] + mBoxExtents.z*mAR.m[2][1];
- mBBz1 = mBoxExtents.x*mAR.m[0][2] + mBoxExtents.y*mAR.m[1][2] + mBoxExtents.z*mAR.m[2][2];
-
- mBB_1 = mBoxExtents.y*mAR.m[2][0] + mBoxExtents.z*mAR.m[1][0];
- mBB_2 = mBoxExtents.x*mAR.m[2][0] + mBoxExtents.z*mAR.m[0][0];
- mBB_3 = mBoxExtents.x*mAR.m[1][0] + mBoxExtents.y*mAR.m[0][0];
- mBB_4 = mBoxExtents.y*mAR.m[2][1] + mBoxExtents.z*mAR.m[1][1];
- mBB_5 = mBoxExtents.x*mAR.m[2][1] + mBoxExtents.z*mAR.m[0][1];
- mBB_6 = mBoxExtents.x*mAR.m[1][1] + mBoxExtents.y*mAR.m[0][1];
- mBB_7 = mBoxExtents.y*mAR.m[2][2] + mBoxExtents.z*mAR.m[1][2];
- mBB_8 = mBoxExtents.x*mAR.m[2][2] + mBoxExtents.z*mAR.m[0][2];
- mBB_9 = mBoxExtents.x*mAR.m[1][2] + mBoxExtents.y*mAR.m[0][2];
-
- return FALSE;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks the OBB 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 OBB contains the whole box
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL OBBCollider::OBBContainsBox(const IcePoint& bc, const IcePoint& be)
-{
- // I assume if all 8 box vertices are inside the OBB, so does the whole box.
- // Sounds ok but maybe there's a better way?
-/*
-#define TEST_PT(a,b,c) \
- p.x=a; p.y=b; p.z=c; p+=bc; \
- f = p.x * mRModelToBox.m[0][0] + p.y * mRModelToBox.m[1][0] + p.z * mRModelToBox.m[2][0]; if(f>mB0.x || f<mB1.x) return FALSE;\
- f = p.x * mRModelToBox.m[0][1] + p.y * mRModelToBox.m[1][1] + p.z * mRModelToBox.m[2][1]; if(f>mB0.y || f<mB1.y) return FALSE;\
- f = p.x * mRModelToBox.m[0][2] + p.y * mRModelToBox.m[1][2] + p.z * mRModelToBox.m[2][2]; if(f>mB0.z || f<mB1.z) return FALSE;
-
- IcePoint p;
- float f;
-
- TEST_PT(be.x, be.y, be.z)
- TEST_PT(-be.x, be.y, be.z)
- TEST_PT(be.x, -be.y, be.z)
- TEST_PT(-be.x, -be.y, be.z)
- TEST_PT(be.x, be.y, -be.z)
- TEST_PT(-be.x, be.y, -be.z)
- TEST_PT(be.x, -be.y, -be.z)
- TEST_PT(-be.x, -be.y, -be.z)
-
- return TRUE;
-*/
-
- // Yes there is:
- // - compute model-box's AABB in OBB space
- // - test AABB-in-AABB
- float NCx = bc.x * mRModelToBox.m[0][0] + bc.y * mRModelToBox.m[1][0] + bc.z * mRModelToBox.m[2][0];
- float NEx = fabsf(mRModelToBox.m[0][0] * be.x) + fabsf(mRModelToBox.m[1][0] * be.y) + fabsf(mRModelToBox.m[2][0] * be.z);
-
- if(mB0.x < NCx+NEx) return FALSE;
- if(mB1.x > NCx-NEx) return FALSE;
-
- float NCy = bc.x * mRModelToBox.m[0][1] + bc.y * mRModelToBox.m[1][1] + bc.z * mRModelToBox.m[2][1];
- float NEy = fabsf(mRModelToBox.m[0][1] * be.x) + fabsf(mRModelToBox.m[1][1] * be.y) + fabsf(mRModelToBox.m[2][1] * be.z);
-
- if(mB0.y < NCy+NEy) return FALSE;
- if(mB1.y > NCy-NEy) return FALSE;
-
- float NCz = bc.x * mRModelToBox.m[0][2] + bc.y * mRModelToBox.m[1][2] + bc.z * mRModelToBox.m[2][2];
- float NEz = fabsf(mRModelToBox.m[0][2] * be.x) + fabsf(mRModelToBox.m[1][2] * be.y) + fabsf(mRModelToBox.m[2][2] * be.z);
-
- if(mB0.z < NCz+NEz) return FALSE;
- if(mB1.z > NCz-NEz) return FALSE;
-
- return TRUE;
-}
-
-#define TEST_BOX_IN_OBB(center, extents) \
- if(OBBContainsBox(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 OBBCollider::_Collide(const AABBCollisionNode* node)
-{
- // Perform OBB-AABB overlap test
- if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->IsLeaf())
- {
- OBB_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 OBBCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)
-{
- // Perform OBB-AABB overlap test
- if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_OBB(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 OBBCollider::_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 OBB-AABB overlap test
- if(!BoxBoxOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_OBB(Center, Extents)
-
- if(node->IsLeaf())
- {
- OBB_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 OBBCollider::_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 OBB-AABB overlap test
- if(!BoxBoxOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_OBB(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 OBBCollider::_Collide(const AABBNoLeafNode* node)
-{
- // Perform OBB-AABB overlap test
- if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->HasPosLeaf()) { OBB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { OBB_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 OBBCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)
-{
- // Perform OBB-AABB overlap test
- if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_OBB(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 OBBCollider::_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 OBB-AABB overlap test
- if(!BoxBoxOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_OBB(Center, Extents)
-
- if(node->HasPosLeaf()) { OBB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { OBB_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 OBBCollider::_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 OBB-AABB overlap test
- if(!BoxBoxOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_OBB(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());
-}
-
-
-
-
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridOBBCollider::HybridOBBCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridOBBCollider::~HybridOBBCollider()
-{
-}
-
-bool HybridOBBCollider::Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb, 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, box, worldb, 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++)
- {
- OBB_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++;
- OBB_PRIM(TriangleIndex, OPC_CONTACT)
- }
- }
- else
- {
- udword BaseIndex = CurrentLeaf.GetTriangleIndex();
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- udword TriangleIndex = BaseIndex++;
- OBB_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 an OBB collider. + * \file OPC_OBBCollider.cpp + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains an OBB-vs-tree collider. + * + * \class OBBCollider + * \author Pierre Terdiman + * \version 1.3 + * \date January, 1st, 2002 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +#include "OPC_BoxBoxOverlap.h" +#include "OPC_TriBoxOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + /* Set contact status */ \ + mFlags |= flag; \ + mTouchedPrimitives->Add(prim_index); + +//! OBB-triangle test +#define OBB_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \ + /* Transform them in a common space */ \ + TransformPoint(mLeafVerts[0], *VP.Vertex[0], mRModelToBox, mTModelToBox); \ + TransformPoint(mLeafVerts[1], *VP.Vertex[1], mRModelToBox, mTModelToBox); \ + TransformPoint(mLeafVerts[2], *VP.Vertex[2], mRModelToBox, mTModelToBox); \ + /* Perform triangle-box overlap test */ \ + if(TriBoxOverlap()) \ + { \ + SET_CONTACT(prim_index, flag) \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +OBBCollider::OBBCollider() : mFullBoxBoxTest(true) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +OBBCollider::~OBBCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Validates current settings. You should call this method after all the settings and callbacks have been defined. + * \return null if everything is ok, else a string describing the problem + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const char* OBBCollider::ValidateSettings() +{ + if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; + + return VolumeCollider::ValidateSettings(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a box cache + * \param box [in] collision OBB in local space + * \param model [in] Opcode model to collide with + * \param worldb [in] OBB'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 OBBCollider::Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb, const Matrix4x4* worldm) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(cache, box, worldb, 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 box cache + * \param box [in] obb in local space + * \param worldb [in] obb'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 OBBCollider::InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb, const Matrix4x4* worldm) +{ + // 1) Call the base method + VolumeCollider::InitQuery(); + + // 2) Compute obb in world space + mBoxExtents = box.mExtents; + + Matrix4x4 WorldB; + + if(worldb) + { + WorldB = Matrix4x4( box.mRot * Matrix3x3(*worldb) ); + WorldB.SetTrans(box.mCenter * *worldb); + } + else + { + WorldB = box.mRot; + WorldB.SetTrans(box.mCenter); + } + + // Setup matrices + Matrix4x4 InvWorldB; + InvertPRMatrix(InvWorldB, WorldB); + + if(worldm) + { + Matrix4x4 InvWorldM; + InvertPRMatrix(InvWorldM, *worldm); + + Matrix4x4 WorldBtoM = WorldB * InvWorldM; + Matrix4x4 WorldMtoB = *worldm * InvWorldB; + + mRModelToBox = WorldMtoB; WorldMtoB.GetTrans(mTModelToBox); + mRBoxToModel = WorldBtoM; WorldBtoM.GetTrans(mTBoxToModel); + } + else + { + mRModelToBox = InvWorldB; InvWorldB.GetTrans(mTModelToBox); + mRBoxToModel = WorldB; WorldB.GetTrans(mTBoxToModel); + } + + // 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 box (and set contact status if needed) + OBB_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 box (and set contact status if needed) + OBB_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 + { + // ### rewrite this + OBB TestBox(mTBoxToModel, mBoxExtents, mRBoxToModel); + + // We're interested in all contacts =>test the new real box N(ew) against the previous fat box P(revious): + if(IsCacheValid(cache) && TestBox.IsInside(cache.FatBox)) + { + // - 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 box so that coherence will work for subsequent frames + TestBox.mExtents *= cache.FatCoeff; + mBoxExtents *= cache.FatCoeff; + + // Update cache with query data (signature for cached faces) + cache.FatBox = TestBox; + } + } + } + else + { + // Here we don't use temporal coherence => do a normal query + mTouchedPrimitives->Reset(); + } + + // Now we can precompute box-box data + + // Precompute absolute box-to-model rotation matrix + for(udword i=0;i<3;i++) + { + for(udword j=0;j<3;j++) + { + // Epsilon value prevents floating-IcePoint inaccuracies (strategy borrowed from RAPID) + mAR.m[i][j] = 1e-6f + fabsf(mRBoxToModel.m[i][j]); + } + } + + // Precompute bounds for box-in-box test + mB0 = mBoxExtents - mTModelToBox; + mB1 = - mBoxExtents - mTModelToBox; + + // Precompute box-box data - Courtesy of Erwin de Vries + mBBx1 = mBoxExtents.x*mAR.m[0][0] + mBoxExtents.y*mAR.m[1][0] + mBoxExtents.z*mAR.m[2][0]; + mBBy1 = mBoxExtents.x*mAR.m[0][1] + mBoxExtents.y*mAR.m[1][1] + mBoxExtents.z*mAR.m[2][1]; + mBBz1 = mBoxExtents.x*mAR.m[0][2] + mBoxExtents.y*mAR.m[1][2] + mBoxExtents.z*mAR.m[2][2]; + + mBB_1 = mBoxExtents.y*mAR.m[2][0] + mBoxExtents.z*mAR.m[1][0]; + mBB_2 = mBoxExtents.x*mAR.m[2][0] + mBoxExtents.z*mAR.m[0][0]; + mBB_3 = mBoxExtents.x*mAR.m[1][0] + mBoxExtents.y*mAR.m[0][0]; + mBB_4 = mBoxExtents.y*mAR.m[2][1] + mBoxExtents.z*mAR.m[1][1]; + mBB_5 = mBoxExtents.x*mAR.m[2][1] + mBoxExtents.z*mAR.m[0][1]; + mBB_6 = mBoxExtents.x*mAR.m[1][1] + mBoxExtents.y*mAR.m[0][1]; + mBB_7 = mBoxExtents.y*mAR.m[2][2] + mBoxExtents.z*mAR.m[1][2]; + mBB_8 = mBoxExtents.x*mAR.m[2][2] + mBoxExtents.z*mAR.m[0][2]; + mBB_9 = mBoxExtents.x*mAR.m[1][2] + mBoxExtents.y*mAR.m[0][2]; + + return FALSE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the OBB 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 OBB contains the whole box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL OBBCollider::OBBContainsBox(const IcePoint& bc, const IcePoint& be) +{ + // I assume if all 8 box vertices are inside the OBB, so does the whole box. + // Sounds ok but maybe there's a better way? +/* +#define TEST_PT(a,b,c) \ + p.x=a; p.y=b; p.z=c; p+=bc; \ + f = p.x * mRModelToBox.m[0][0] + p.y * mRModelToBox.m[1][0] + p.z * mRModelToBox.m[2][0]; if(f>mB0.x || f<mB1.x) return FALSE;\ + f = p.x * mRModelToBox.m[0][1] + p.y * mRModelToBox.m[1][1] + p.z * mRModelToBox.m[2][1]; if(f>mB0.y || f<mB1.y) return FALSE;\ + f = p.x * mRModelToBox.m[0][2] + p.y * mRModelToBox.m[1][2] + p.z * mRModelToBox.m[2][2]; if(f>mB0.z || f<mB1.z) return FALSE; + + IcePoint p; + float f; + + TEST_PT(be.x, be.y, be.z) + TEST_PT(-be.x, be.y, be.z) + TEST_PT(be.x, -be.y, be.z) + TEST_PT(-be.x, -be.y, be.z) + TEST_PT(be.x, be.y, -be.z) + TEST_PT(-be.x, be.y, -be.z) + TEST_PT(be.x, -be.y, -be.z) + TEST_PT(-be.x, -be.y, -be.z) + + return TRUE; +*/ + + // Yes there is: + // - compute model-box's AABB in OBB space + // - test AABB-in-AABB + float NCx = bc.x * mRModelToBox.m[0][0] + bc.y * mRModelToBox.m[1][0] + bc.z * mRModelToBox.m[2][0]; + float NEx = fabsf(mRModelToBox.m[0][0] * be.x) + fabsf(mRModelToBox.m[1][0] * be.y) + fabsf(mRModelToBox.m[2][0] * be.z); + + if(mB0.x < NCx+NEx) return FALSE; + if(mB1.x > NCx-NEx) return FALSE; + + float NCy = bc.x * mRModelToBox.m[0][1] + bc.y * mRModelToBox.m[1][1] + bc.z * mRModelToBox.m[2][1]; + float NEy = fabsf(mRModelToBox.m[0][1] * be.x) + fabsf(mRModelToBox.m[1][1] * be.y) + fabsf(mRModelToBox.m[2][1] * be.z); + + if(mB0.y < NCy+NEy) return FALSE; + if(mB1.y > NCy-NEy) return FALSE; + + float NCz = bc.x * mRModelToBox.m[0][2] + bc.y * mRModelToBox.m[1][2] + bc.z * mRModelToBox.m[2][2]; + float NEz = fabsf(mRModelToBox.m[0][2] * be.x) + fabsf(mRModelToBox.m[1][2] * be.y) + fabsf(mRModelToBox.m[2][2] * be.z); + + if(mB0.z < NCz+NEz) return FALSE; + if(mB1.z > NCz-NEz) return FALSE; + + return TRUE; +} + +#define TEST_BOX_IN_OBB(center, extents) \ + if(OBBContainsBox(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 OBBCollider::_Collide(const AABBCollisionNode* node) +{ + // Perform OBB-AABB overlap test + if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->IsLeaf()) + { + OBB_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 OBBCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) +{ + // Perform OBB-AABB overlap test + if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_OBB(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 OBBCollider::_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 OBB-AABB overlap test + if(!BoxBoxOverlap(Extents, Center)) return; + + TEST_BOX_IN_OBB(Center, Extents) + + if(node->IsLeaf()) + { + OBB_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 OBBCollider::_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 OBB-AABB overlap test + if(!BoxBoxOverlap(Extents, Center)) return; + + TEST_BOX_IN_OBB(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 OBBCollider::_Collide(const AABBNoLeafNode* node) +{ + // Perform OBB-AABB overlap test + if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->HasPosLeaf()) { OBB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { OBB_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 OBBCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) +{ + // Perform OBB-AABB overlap test + if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_OBB(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 OBBCollider::_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 OBB-AABB overlap test + if(!BoxBoxOverlap(Extents, Center)) return; + + TEST_BOX_IN_OBB(Center, Extents) + + if(node->HasPosLeaf()) { OBB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { OBB_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 OBBCollider::_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 OBB-AABB overlap test + if(!BoxBoxOverlap(Extents, Center)) return; + + TEST_BOX_IN_OBB(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()); +} + + + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridOBBCollider::HybridOBBCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridOBBCollider::~HybridOBBCollider() +{ +} + +bool HybridOBBCollider::Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb, 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, box, worldb, 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++) + { + OBB_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++; + OBB_PRIM(TriangleIndex, OPC_CONTACT) + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + udword TriangleIndex = BaseIndex++; + OBB_PRIM(TriangleIndex, OPC_CONTACT) + } + } + } + } + + return true; +} diff --git a/Opcode/OPC_OBBCollider.h b/Opcode/OPC_OBBCollider.h index 0601b20..9753384 100644 --- a/Opcode/OPC_OBBCollider.h +++ b/Opcode/OPC_OBBCollider.h @@ -1,142 +1,142 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for an OBB collider.
- * \file OPC_OBBCollider.h
- * \author Pierre Terdiman
- * \date January, 1st, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_OBBCOLLIDER_H__
-#define __OPC_OBBCOLLIDER_H__
-
- struct OPCODE_API OBBCache : VolumeCache
- {
- OBBCache() : FatCoeff(1.1f)
- {
- FatBox.mCenter.Zero();
- FatBox.mExtents.Zero();
- FatBox.mRot.Identity();
- }
-
- // Cached faces signature
- OBB FatBox; //!< Box used when performing the query resulting in cached faces
- // User settings
- float FatCoeff; //!< extents multiplier used to create a fat box
- };
-
- class OPCODE_API OBBCollider : public VolumeCollider
- {
- public:
- // Constructor / Destructor
- OBBCollider();
- virtual ~OBBCollider();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Generic collision query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - with GetNbTouchedPrimitives()
- * - with GetTouchedPrimitives()
- *
- * \param cache [in/out] a box cache
- * \param box [in] collision OBB in local space
- * \param model [in] Opcode model to collide with
- * \param worldb [in] OBB'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 Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
-
- // Settings
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Settings: select between full box-box tests or "SAT-lite" tests (where Class III axes are discarded)
- * \param flag [in] true for full tests, false for coarse tests
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; }
-
- // Settings
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
- * \return null if everything is ok, else a string describing the problem
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(Collider) const char* ValidateSettings();
-
- protected:
- // Precomputed data
- Matrix3x3 mAR; //!< Absolute rotation matrix
- Matrix3x3 mRModelToBox; //!< Rotation from model space to obb space
- Matrix3x3 mRBoxToModel; //!< Rotation from obb space to model space
- IcePoint mTModelToBox; //!< Translation from model space to obb space
- IcePoint mTBoxToModel; //!< Translation from obb space to model space
-
- IcePoint mBoxExtents;
- IcePoint mB0; //!< - mTModelToBox + mBoxExtents
- IcePoint mB1; //!< - mTModelToBox - mBoxExtents
-
- float mBBx1;
- float mBBy1;
- float mBBz1;
-
- float mBB_1;
- float mBB_2;
- float mBB_3;
- float mBB_4;
- float mBB_5;
- float mBB_6;
- float mBB_7;
- float mBB_8;
- float mBB_9;
-
- // Leaf description
- IcePoint mLeafVerts[3]; //!< Triangle vertices
- // Settings
- bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false)
- // Internal methods
- void _Collide(const AABBCollisionNode* node);
- void _Collide(const AABBNoLeafNode* node);
- void _Collide(const AABBQuantizedNode* node);
- void _Collide(const AABBQuantizedNoLeafNode* node);
- void _CollideNoPrimitiveTest(const AABBCollisionNode* node);
- void _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
- void _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
- void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
- // Overlap tests
- inline_ BOOL OBBContainsBox(const IcePoint& bc, const IcePoint& be);
- inline_ BOOL BoxBoxOverlap(const IcePoint& extents, const IcePoint& center);
- inline_ BOOL TriBoxOverlap();
- // Init methods
- BOOL InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
- };
-
- class OPCODE_API HybridOBBCollider : public OBBCollider
- {
- public:
- // Constructor / Destructor
- HybridOBBCollider();
- virtual ~HybridOBBCollider();
-
- bool Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
- protected:
- Container mTouchedBoxes;
- };
-
-#endif // __OPC_OBBCOLLIDER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for an OBB collider. + * \file OPC_OBBCollider.h + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_OBBCOLLIDER_H__ +#define __OPC_OBBCOLLIDER_H__ + + struct OPCODE_API OBBCache : VolumeCache + { + OBBCache() : FatCoeff(1.1f) + { + FatBox.mCenter.Zero(); + FatBox.mExtents.Zero(); + FatBox.mRot.Identity(); + } + + // Cached faces signature + OBB FatBox; //!< Box used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< extents multiplier used to create a fat box + }; + + class OPCODE_API OBBCollider : public VolumeCollider + { + public: + // Constructor / Destructor + OBBCollider(); + virtual ~OBBCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a box cache + * \param box [in] collision OBB in local space + * \param model [in] Opcode model to collide with + * \param worldb [in] OBB'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 Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: select between full box-box tests or "SAT-lite" tests (where Class III axes are discarded) + * \param flag [in] true for full tests, false for coarse tests + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; } + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Precomputed data + Matrix3x3 mAR; //!< Absolute rotation matrix + Matrix3x3 mRModelToBox; //!< Rotation from model space to obb space + Matrix3x3 mRBoxToModel; //!< Rotation from obb space to model space + IcePoint mTModelToBox; //!< Translation from model space to obb space + IcePoint mTBoxToModel; //!< Translation from obb space to model space + + IcePoint mBoxExtents; + IcePoint mB0; //!< - mTModelToBox + mBoxExtents + IcePoint mB1; //!< - mTModelToBox - mBoxExtents + + float mBBx1; + float mBBy1; + float mBBz1; + + float mBB_1; + float mBB_2; + float mBB_3; + float mBB_4; + float mBB_5; + float mBB_6; + float mBB_7; + float mBB_8; + float mBB_9; + + // Leaf description + IcePoint mLeafVerts[3]; //!< Triangle vertices + // Settings + bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false) + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); + // Overlap tests + inline_ BOOL OBBContainsBox(const IcePoint& bc, const IcePoint& be); + inline_ BOOL BoxBoxOverlap(const IcePoint& extents, const IcePoint& center); + inline_ BOOL TriBoxOverlap(); + // Init methods + BOOL InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridOBBCollider : public OBBCollider + { + public: + // Constructor / Destructor + HybridOBBCollider(); + virtual ~HybridOBBCollider(); + + bool Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_OBBCOLLIDER_H__ diff --git a/Opcode/OPC_OptimizedTree.cpp b/Opcode/OPC_OptimizedTree.cpp index 32e4803..a84ac5a 100644 --- a/Opcode/OPC_OptimizedTree.cpp +++ b/Opcode/OPC_OptimizedTree.cpp @@ -1,782 +1,782 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for optimized trees. Implements 4 trees:
- * - normal
- * - no leaf
- * - quantized
- * - no leaf / quantized
- *
- * \file OPC_OptimizedTree.cpp
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * A standard AABB tree.
- *
- * \class AABBCollisionTree
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * A no-leaf AABB tree.
- *
- * \class AABBNoLeafTree
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * A quantized AABB tree.
- *
- * \class AABBQuantizedTree
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * A quantized no-leaf AABB tree.
- *
- * \class AABBQuantizedNoLeafTree
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-//! Compilation flag:
-//! - true to fix quantized boxes (i.e. make sure they enclose the original ones)
-//! - false to see the effects of quantization errors (faster, but wrong results in some cases)
-static bool gFixQuantized = true;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds an implicit tree from a standard one. An implicit tree is a complete tree (2*N-1 nodes) whose negative
- * box pointers and primitive pointers have been made implicit, hence packing 3 pointers in one.
- *
- * Layout for implicit trees:
- * Node:
- * - box
- * - data (32-bits value)
- *
- * if data's LSB = 1 => remaining bits are a primitive pointer
- * else remaining bits are a P-node pointer, and N = P + 1
- *
- * \relates AABBCollisionNode
- * \fn _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node)
- * \param linear [in] base address of destination nodes
- * \param box_id [in] index of destination node
- * \param current_id [in] current running index
- * \param current_node [in] current node from input tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-static void _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node)
-{
- // Current node from input tree is "current_node". Must be flattened into "linear[boxid]".
-
- // Store the AABB
- current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter);
- current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents);
- // Store remaining info
- if(current_node->IsLeaf())
- {
- // The input tree must be complete => i.e. one primitive/leaf
- ASSERT(current_node->GetNbPrimitives()==1);
- // Get the primitive index from the input tree
- udword PrimitiveIndex = current_node->GetPrimitives()[0];
- // Setup box data as the primitive index, marked as leaf
- linear[box_id].mData = (PrimitiveIndex<<1)|1;
- }
- else
- {
- // To make the negative one implicit, we must store P and N in successive order
- udword PosID = current_id++; // Get a new id for positive child
- udword NegID = current_id++; // Get a new id for negative child
- // Setup box data as the forthcoming new P pointer
- linear[box_id].mData = (udword)&linear[PosID];
- // Make sure it's not marked as leaf
- ASSERT(!(linear[box_id].mData&1));
- // Recurse with new IDs
- _BuildCollisionTree(linear, PosID, current_id, current_node->GetPos());
- _BuildCollisionTree(linear, NegID, current_id, current_node->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds a "no-leaf" tree from a standard one. This is a tree whose leaf nodes have been removed.
- *
- * Layout for no-leaf trees:
- *
- * Node:
- * - box
- * - P pointer => a node (LSB=0) or a primitive (LSB=1)
- * - N pointer => a node (LSB=0) or a primitive (LSB=1)
- *
- * \relates AABBNoLeafNode
- * \fn _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node)
- * \param linear [in] base address of destination nodes
- * \param box_id [in] index of destination node
- * \param current_id [in] current running index
- * \param current_node [in] current node from input tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-static void _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node)
-{
- const AABBTreeNode* P = current_node->GetPos();
- const AABBTreeNode* N = current_node->GetNeg();
- // Leaf nodes here?!
- ASSERT(P);
- ASSERT(N);
- // Internal node => keep the box
- current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter);
- current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents);
-
- if(P->IsLeaf())
- {
- // The input tree must be complete => i.e. one primitive/leaf
- ASSERT(P->GetNbPrimitives()==1);
- // Get the primitive index from the input tree
- udword PrimitiveIndex = P->GetPrimitives()[0];
- // Setup prev box data as the primitive index, marked as leaf
- linear[box_id].mPosData = (PrimitiveIndex<<1)|1;
- }
- else
- {
- // Get a new id for positive child
- udword PosID = current_id++;
- // Setup box data
- linear[box_id].mPosData = (udword)&linear[PosID];
- // Make sure it's not marked as leaf
- ASSERT(!(linear[box_id].mPosData&1));
- // Recurse
- _BuildNoLeafTree(linear, PosID, current_id, P);
- }
-
- if(N->IsLeaf())
- {
- // The input tree must be complete => i.e. one primitive/leaf
- ASSERT(N->GetNbPrimitives()==1);
- // Get the primitive index from the input tree
- udword PrimitiveIndex = N->GetPrimitives()[0];
- // Setup prev box data as the primitive index, marked as leaf
- linear[box_id].mNegData = (PrimitiveIndex<<1)|1;
- }
- else
- {
- // Get a new id for negative child
- udword NegID = current_id++;
- // Setup box data
- linear[box_id].mNegData = (udword)&linear[NegID];
- // Make sure it's not marked as leaf
- ASSERT(!(linear[box_id].mNegData&1));
- // Recurse
- _BuildNoLeafTree(linear, NegID, current_id, N);
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBCollisionTree::AABBCollisionTree() : mNodes(null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBCollisionTree::~AABBCollisionTree()
-{
- DELETEARRAY(mNodes);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds the collision tree from a generic AABB tree.
- * \param tree [in] generic AABB tree
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBCollisionTree::Build(AABBTree* tree)
-{
- // Checkings
- if(!tree) return false;
- // Check the input tree is complete
- udword NbTriangles = tree->GetNbPrimitives();
- udword NbNodes = tree->GetNbNodes();
- if(NbNodes!=NbTriangles*2-1) return false;
-
- // Get nodes
- if(mNbNodes!=NbNodes) // Same number of nodes => keep moving
- {
- mNbNodes = NbNodes;
- DELETEARRAY(mNodes);
- mNodes = new AABBCollisionNode[mNbNodes];
- CHECKALLOC(mNodes);
- }
-
- // Build the tree
- udword CurID = 1;
- _BuildCollisionTree(mNodes, 0, CurID, tree);
- ASSERT(CurID==mNbNodes);
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the collision tree after vertices have been modified.
- * \param mesh_interface [in] mesh interface for current model
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBCollisionTree::Refit(const MeshInterface* mesh_interface)
-{
- ASSERT(!"Not implemented since AABBCollisionTrees have twice as more nodes to refit as AABBNoLeafTrees!");
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Walks the tree and call the user back for each node.
- * \param callback [in] walking callback
- * \param user_data [in] callback's user data
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBCollisionTree::Walk(GenericWalkingCallback callback, void* user_data) const
-{
- if(!callback) return false;
-
- struct Local
- {
- static void _Walk(const AABBCollisionNode* current_node, GenericWalkingCallback callback, void* user_data)
- {
- if(!current_node || !(callback)(current_node, user_data)) return;
-
- if(!current_node->IsLeaf())
- {
- _Walk(current_node->GetPos(), callback, user_data);
- _Walk(current_node->GetNeg(), callback, user_data);
- }
- }
- };
- Local::_Walk(mNodes, callback, user_data);
- return true;
-}
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBNoLeafTree::AABBNoLeafTree() : mNodes(null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBNoLeafTree::~AABBNoLeafTree()
-{
- DELETEARRAY(mNodes);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds the collision tree from a generic AABB tree.
- * \param tree [in] generic AABB tree
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBNoLeafTree::Build(AABBTree* tree)
-{
- // Checkings
- if(!tree) return false;
- // Check the input tree is complete
- udword NbTriangles = tree->GetNbPrimitives();
- udword NbNodes = tree->GetNbNodes();
- if(NbNodes!=NbTriangles*2-1) return false;
-
- // Get nodes
- if(mNbNodes!=NbTriangles-1) // Same number of nodes => keep moving
- {
- mNbNodes = NbTriangles-1;
- DELETEARRAY(mNodes);
- mNodes = new AABBNoLeafNode[mNbNodes];
- CHECKALLOC(mNodes);
- }
-
- // Build the tree
- udword CurID = 1;
- _BuildNoLeafTree(mNodes, 0, CurID, tree);
- ASSERT(CurID==mNbNodes);
-
- return true;
-}
-
-inline_ void ComputeMinMax(IcePoint& min, IcePoint& max, const VertexPointers& vp)
-{
- // Compute triangle's AABB = a leaf box
-#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much
- min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x);
- max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x);
-
- min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y);
- max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y);
-
- min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z);
- max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z);
-#else
- min = *vp.Vertex[0];
- max = *vp.Vertex[0];
- min.Min(*vp.Vertex[1]);
- max.Max(*vp.Vertex[1]);
- min.Min(*vp.Vertex[2]);
- max.Max(*vp.Vertex[2]);
-#endif
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the collision tree after vertices have been modified.
- * \param mesh_interface [in] mesh interface for current model
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBNoLeafTree::Refit(const MeshInterface* mesh_interface)
-{
- // Checkings
- if(!mesh_interface) return false;
-
- // Bottom-up update
- VertexPointers VP;
- IcePoint Min,Max;
- IcePoint Min_,Max_;
- udword Index = mNbNodes;
- while(Index--)
- {
- AABBNoLeafNode& Current = mNodes[Index];
-
- if(Current.HasPosLeaf())
- {
- mesh_interface->GetTriangle(VP, Current.GetPosPrimitive());
- ComputeMinMax(Min, Max, VP);
- }
- else
- {
- const CollisionAABB& CurrentBox = Current.GetPos()->mAABB;
- CurrentBox.GetMin(Min);
- CurrentBox.GetMax(Max);
- }
-
- if(Current.HasNegLeaf())
- {
- mesh_interface->GetTriangle(VP, Current.GetNegPrimitive());
- ComputeMinMax(Min_, Max_, VP);
- }
- else
- {
- const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB;
- CurrentBox.GetMin(Min_);
- CurrentBox.GetMax(Max_);
- }
-#ifdef OPC_USE_FCOMI
- Min.x = FCMin2(Min.x, Min_.x);
- Max.x = FCMax2(Max.x, Max_.x);
- Min.y = FCMin2(Min.y, Min_.y);
- Max.y = FCMax2(Max.y, Max_.y);
- Min.z = FCMin2(Min.z, Min_.z);
- Max.z = FCMax2(Max.z, Max_.z);
-#else
- Min.Min(Min_);
- Max.Max(Max_);
-#endif
- Current.mAABB.SetMinMax(Min, Max);
- }
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Walks the tree and call the user back for each node.
- * \param callback [in] walking callback
- * \param user_data [in] callback's user data
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBNoLeafTree::Walk(GenericWalkingCallback callback, void* user_data) const
-{
- if(!callback) return false;
-
- struct Local
- {
- static void _Walk(const AABBNoLeafNode* current_node, GenericWalkingCallback callback, void* user_data)
- {
- if(!current_node || !(callback)(current_node, user_data)) return;
-
- if(!current_node->HasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data);
- if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data);
- }
- };
- Local::_Walk(mNodes, callback, user_data);
- return true;
-}
-
-// Quantization notes:
-// - We could use the highest bits of mData to store some more quantized bits. Dequantization code
-// would be slightly more complex, but number of overlap tests would be reduced (and anyhow those
-// bits are currently wasted). Of course it's not possible if we move to 16 bits mData.
-// - Something like "16 bits floats" could be tested, to bypass the int-to-float conversion.
-// - A dedicated BV-BV test could be used, dequantizing while testing for overlap. (i.e. it's some
-// lazy-dequantization which may save some work in case of early exits). At the very least some
-// muls could be saved by precomputing several more matrices. But maybe not worth the pain.
-// - Do we need to dequantize anyway? Not doing the extents-related muls only implies the box has
-// been scaled, for example.
-// - The deeper we move into the hierarchy, the smaller the extents should be. May not need a fixed
-// number of quantization bits. Even better, could probably be best delta-encoded.
-
-
-// Find max values. Some people asked why I wasn't simply using the first node. Well, I can't.
-// I'm not looking for (min, max) values like in a standard AABB, I'm looking for the extremal
-// centers/extents in order to quantize them. The first node would only give a single center and
-// a single extents. While extents would be the biggest, the center wouldn't.
-#define FIND_MAX_VALUES \
- /* Get max values */ \
- IcePoint CMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \
- IcePoint EMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \
- for(udword i=0;i<mNbNodes;i++) \
- { \
- if(fabsf(Nodes[i].mAABB.mCenter.x)>CMax.x) CMax.x = fabsf(Nodes[i].mAABB.mCenter.x); \
- if(fabsf(Nodes[i].mAABB.mCenter.y)>CMax.y) CMax.y = fabsf(Nodes[i].mAABB.mCenter.y); \
- if(fabsf(Nodes[i].mAABB.mCenter.z)>CMax.z) CMax.z = fabsf(Nodes[i].mAABB.mCenter.z); \
- if(fabsf(Nodes[i].mAABB.mExtents.x)>EMax.x) EMax.x = fabsf(Nodes[i].mAABB.mExtents.x); \
- if(fabsf(Nodes[i].mAABB.mExtents.y)>EMax.y) EMax.y = fabsf(Nodes[i].mAABB.mExtents.y); \
- if(fabsf(Nodes[i].mAABB.mExtents.z)>EMax.z) EMax.z = fabsf(Nodes[i].mAABB.mExtents.z); \
- }
-
-#define INIT_QUANTIZATION \
- udword nbc=15; /* Keep one bit for sign */ \
- udword nbe=15; /* Keep one bit for fix */ \
- if(!gFixQuantized) nbe++; \
- \
- /* Compute quantization coeffs */ \
- IcePoint CQuantCoeff, EQuantCoeff; \
- CQuantCoeff.x = CMax.x!=0.0f ? float((1<<nbc)-1)/CMax.x : 0.0f; \
- CQuantCoeff.y = CMax.y!=0.0f ? float((1<<nbc)-1)/CMax.y : 0.0f; \
- CQuantCoeff.z = CMax.z!=0.0f ? float((1<<nbc)-1)/CMax.z : 0.0f; \
- EQuantCoeff.x = EMax.x!=0.0f ? float((1<<nbe)-1)/EMax.x : 0.0f; \
- EQuantCoeff.y = EMax.y!=0.0f ? float((1<<nbe)-1)/EMax.y : 0.0f; \
- EQuantCoeff.z = EMax.z!=0.0f ? float((1<<nbe)-1)/EMax.z : 0.0f; \
- /* Compute and save dequantization coeffs */ \
- mCenterCoeff.x = CQuantCoeff.x!=0.0f ? 1.0f / CQuantCoeff.x : 0.0f; \
- mCenterCoeff.y = CQuantCoeff.y!=0.0f ? 1.0f / CQuantCoeff.y : 0.0f; \
- mCenterCoeff.z = CQuantCoeff.z!=0.0f ? 1.0f / CQuantCoeff.z : 0.0f; \
- mExtentsCoeff.x = EQuantCoeff.x!=0.0f ? 1.0f / EQuantCoeff.x : 0.0f; \
- mExtentsCoeff.y = EQuantCoeff.y!=0.0f ? 1.0f / EQuantCoeff.y : 0.0f; \
- mExtentsCoeff.z = EQuantCoeff.z!=0.0f ? 1.0f / EQuantCoeff.z : 0.0f; \
-
-#define PERFORM_QUANTIZATION \
- /* Quantize */ \
- mNodes[i].mAABB.mCenter[0] = sword(Nodes[i].mAABB.mCenter.x * CQuantCoeff.x); \
- mNodes[i].mAABB.mCenter[1] = sword(Nodes[i].mAABB.mCenter.y * CQuantCoeff.y); \
- mNodes[i].mAABB.mCenter[2] = sword(Nodes[i].mAABB.mCenter.z * CQuantCoeff.z); \
- mNodes[i].mAABB.mExtents[0] = uword(Nodes[i].mAABB.mExtents.x * EQuantCoeff.x); \
- mNodes[i].mAABB.mExtents[1] = uword(Nodes[i].mAABB.mExtents.y * EQuantCoeff.y); \
- mNodes[i].mAABB.mExtents[2] = uword(Nodes[i].mAABB.mExtents.z * EQuantCoeff.z); \
- /* Fix quantized boxes */ \
- if(gFixQuantized) \
- { \
- /* Make sure the quantized box is still valid */ \
- IcePoint Max = Nodes[i].mAABB.mCenter + Nodes[i].mAABB.mExtents; \
- IcePoint Min = Nodes[i].mAABB.mCenter - Nodes[i].mAABB.mExtents; \
- /* For each axis */ \
- for(udword j=0;j<3;j++) \
- { /* Dequantize the box center */ \
- float qc = float(mNodes[i].mAABB.mCenter[j]) * mCenterCoeff[j]; \
- bool FixMe=true; \
- do \
- { /* Dequantize the box extent */ \
- float qe = float(mNodes[i].mAABB.mExtents[j]) * mExtentsCoeff[j]; \
- /* Compare real & dequantized values */ \
- if(qc+qe<Max[j] || qc-qe>Min[j]) mNodes[i].mAABB.mExtents[j]++; \
- else FixMe=false; \
- /* Prevent wrapping */ \
- if(!mNodes[i].mAABB.mExtents[j]) \
- { \
- mNodes[i].mAABB.mExtents[j]=0xffff; \
- FixMe=false; \
- } \
- }while(FixMe); \
- } \
- }
-
-#define REMAP_DATA(member) \
- /* Fix data */ \
- Data = Nodes[i].member; \
- if(!(Data&1)) \
- { \
- /* Compute box number */ \
- udword Nb = (Data - udword(Nodes))/Nodes[i].GetNodeSize(); \
- Data = udword(&mNodes[Nb]); \
- } \
- /* ...remapped */ \
- mNodes[i].member = Data;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBQuantizedTree::AABBQuantizedTree() : mNodes(null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBQuantizedTree::~AABBQuantizedTree()
-{
- DELETEARRAY(mNodes);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds the collision tree from a generic AABB tree.
- * \param tree [in] generic AABB tree
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBQuantizedTree::Build(AABBTree* tree)
-{
- // Checkings
- if(!tree) return false;
- // Check the input tree is complete
- udword NbTriangles = tree->GetNbPrimitives();
- udword NbNodes = tree->GetNbNodes();
- if(NbNodes!=NbTriangles*2-1) return false;
-
- // Get nodes
- mNbNodes = NbNodes;
- DELETEARRAY(mNodes);
- AABBCollisionNode* Nodes = new AABBCollisionNode[mNbNodes];
- CHECKALLOC(Nodes);
-
- // Build the tree
- udword CurID = 1;
- _BuildCollisionTree(Nodes, 0, CurID, tree);
-
- // Quantize
- {
- mNodes = new AABBQuantizedNode[mNbNodes];
- CHECKALLOC(mNodes);
-
- // Get max values
- FIND_MAX_VALUES
-
- // Quantization
- INIT_QUANTIZATION
-
- // Quantize
- udword Data;
- for(udword i=0;i<mNbNodes;i++)
- {
- PERFORM_QUANTIZATION
- REMAP_DATA(mData)
- }
-
- DELETEARRAY(Nodes);
- }
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the collision tree after vertices have been modified.
- * \param mesh_interface [in] mesh interface for current model
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBQuantizedTree::Refit(const MeshInterface* mesh_interface)
-{
- ASSERT(!"Not implemented since requantizing is painful !");
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Walks the tree and call the user back for each node.
- * \param callback [in] walking callback
- * \param user_data [in] callback's user data
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBQuantizedTree::Walk(GenericWalkingCallback callback, void* user_data) const
-{
- if(!callback) return false;
-
- struct Local
- {
- static void _Walk(const AABBQuantizedNode* current_node, GenericWalkingCallback callback, void* user_data)
- {
- if(!current_node || !(callback)(current_node, user_data)) return;
-
- if(!current_node->IsLeaf())
- {
- _Walk(current_node->GetPos(), callback, user_data);
- _Walk(current_node->GetNeg(), callback, user_data);
- }
- }
- };
- Local::_Walk(mNodes, callback, user_data);
- return true;
-}
-
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBQuantizedNoLeafTree::AABBQuantizedNoLeafTree() : mNodes(null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBQuantizedNoLeafTree::~AABBQuantizedNoLeafTree()
-{
- DELETEARRAY(mNodes);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds the collision tree from a generic AABB tree.
- * \param tree [in] generic AABB tree
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBQuantizedNoLeafTree::Build(AABBTree* tree)
-{
- // Checkings
- if(!tree) return false;
- // Check the input tree is complete
- udword NbTriangles = tree->GetNbPrimitives();
- udword NbNodes = tree->GetNbNodes();
- if(NbNodes!=NbTriangles*2-1) return false;
-
- // Get nodes
- mNbNodes = NbTriangles-1;
- DELETEARRAY(mNodes);
- AABBNoLeafNode* Nodes = new AABBNoLeafNode[mNbNodes];
- CHECKALLOC(Nodes);
-
- // Build the tree
- udword CurID = 1;
- _BuildNoLeafTree(Nodes, 0, CurID, tree);
- ASSERT(CurID==mNbNodes);
-
- // Quantize
- {
- mNodes = new AABBQuantizedNoLeafNode[mNbNodes];
- CHECKALLOC(mNodes);
-
- // Get max values
- FIND_MAX_VALUES
-
- // Quantization
- INIT_QUANTIZATION
-
- // Quantize
- udword Data;
- for(udword i=0;i<mNbNodes;i++)
- {
- PERFORM_QUANTIZATION
- REMAP_DATA(mPosData)
- REMAP_DATA(mNegData)
- }
-
- DELETEARRAY(Nodes);
- }
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the collision tree after vertices have been modified.
- * \param mesh_interface [in] mesh interface for current model
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBQuantizedNoLeafTree::Refit(const MeshInterface* mesh_interface)
-{
- ASSERT(!"Not implemented since requantizing is painful !");
- return false;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Walks the tree and call the user back for each node.
- * \param callback [in] walking callback
- * \param user_data [in] callback's user data
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBQuantizedNoLeafTree::Walk(GenericWalkingCallback callback, void* user_data) const
-{
- if(!callback) return false;
-
- struct Local
- {
- static void _Walk(const AABBQuantizedNoLeafNode* current_node, GenericWalkingCallback callback, void* user_data)
- {
- if(!current_node || !(callback)(current_node, user_data)) return;
-
- if(!current_node->HasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data);
- if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data);
- }
- };
- Local::_Walk(mNodes, callback, user_data);
- return true;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for optimized trees. Implements 4 trees: + * - normal + * - no leaf + * - quantized + * - no leaf / quantized + * + * \file OPC_OptimizedTree.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A standard AABB tree. + * + * \class AABBCollisionTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A no-leaf AABB tree. + * + * \class AABBNoLeafTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A quantized AABB tree. + * + * \class AABBQuantizedTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A quantized no-leaf AABB tree. + * + * \class AABBQuantizedNoLeafTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +//! Compilation flag: +//! - true to fix quantized boxes (i.e. make sure they enclose the original ones) +//! - false to see the effects of quantization errors (faster, but wrong results in some cases) +static bool gFixQuantized = true; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds an implicit tree from a standard one. An implicit tree is a complete tree (2*N-1 nodes) whose negative + * box pointers and primitive pointers have been made implicit, hence packing 3 pointers in one. + * + * Layout for implicit trees: + * Node: + * - box + * - data (32-bits value) + * + * if data's LSB = 1 => remaining bits are a primitive pointer + * else remaining bits are a P-node pointer, and N = P + 1 + * + * \relates AABBCollisionNode + * \fn _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) + * \param linear [in] base address of destination nodes + * \param box_id [in] index of destination node + * \param current_id [in] current running index + * \param current_node [in] current node from input tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +static void _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) +{ + // Current node from input tree is "current_node". Must be flattened into "linear[boxid]". + + // Store the AABB + current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter); + current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents); + // Store remaining info + if(current_node->IsLeaf()) + { + // The input tree must be complete => i.e. one primitive/leaf + ASSERT(current_node->GetNbPrimitives()==1); + // Get the primitive index from the input tree + udword PrimitiveIndex = current_node->GetPrimitives()[0]; + // Setup box data as the primitive index, marked as leaf + linear[box_id].mData = (PrimitiveIndex<<1)|1; + } + else + { + // To make the negative one implicit, we must store P and N in successive order + udword PosID = current_id++; // Get a new id for positive child + udword NegID = current_id++; // Get a new id for negative child + // Setup box data as the forthcoming new P pointer + linear[box_id].mData = (udword)&linear[PosID]; + // Make sure it's not marked as leaf + ASSERT(!(linear[box_id].mData&1)); + // Recurse with new IDs + _BuildCollisionTree(linear, PosID, current_id, current_node->GetPos()); + _BuildCollisionTree(linear, NegID, current_id, current_node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds a "no-leaf" tree from a standard one. This is a tree whose leaf nodes have been removed. + * + * Layout for no-leaf trees: + * + * Node: + * - box + * - P pointer => a node (LSB=0) or a primitive (LSB=1) + * - N pointer => a node (LSB=0) or a primitive (LSB=1) + * + * \relates AABBNoLeafNode + * \fn _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) + * \param linear [in] base address of destination nodes + * \param box_id [in] index of destination node + * \param current_id [in] current running index + * \param current_node [in] current node from input tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +static void _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) +{ + const AABBTreeNode* P = current_node->GetPos(); + const AABBTreeNode* N = current_node->GetNeg(); + // Leaf nodes here?! + ASSERT(P); + ASSERT(N); + // Internal node => keep the box + current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter); + current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents); + + if(P->IsLeaf()) + { + // The input tree must be complete => i.e. one primitive/leaf + ASSERT(P->GetNbPrimitives()==1); + // Get the primitive index from the input tree + udword PrimitiveIndex = P->GetPrimitives()[0]; + // Setup prev box data as the primitive index, marked as leaf + linear[box_id].mPosData = (PrimitiveIndex<<1)|1; + } + else + { + // Get a new id for positive child + udword PosID = current_id++; + // Setup box data + linear[box_id].mPosData = (udword)&linear[PosID]; + // Make sure it's not marked as leaf + ASSERT(!(linear[box_id].mPosData&1)); + // Recurse + _BuildNoLeafTree(linear, PosID, current_id, P); + } + + if(N->IsLeaf()) + { + // The input tree must be complete => i.e. one primitive/leaf + ASSERT(N->GetNbPrimitives()==1); + // Get the primitive index from the input tree + udword PrimitiveIndex = N->GetPrimitives()[0]; + // Setup prev box data as the primitive index, marked as leaf + linear[box_id].mNegData = (PrimitiveIndex<<1)|1; + } + else + { + // Get a new id for negative child + udword NegID = current_id++; + // Setup box data + linear[box_id].mNegData = (udword)&linear[NegID]; + // Make sure it's not marked as leaf + ASSERT(!(linear[box_id].mNegData&1)); + // Recurse + _BuildNoLeafTree(linear, NegID, current_id, N); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBCollisionTree::AABBCollisionTree() : mNodes(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBCollisionTree::~AABBCollisionTree() +{ + DELETEARRAY(mNodes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBCollisionTree::Build(AABBTree* tree) +{ + // Checkings + if(!tree) return false; + // Check the input tree is complete + udword NbTriangles = tree->GetNbPrimitives(); + udword NbNodes = tree->GetNbNodes(); + if(NbNodes!=NbTriangles*2-1) return false; + + // Get nodes + if(mNbNodes!=NbNodes) // Same number of nodes => keep moving + { + mNbNodes = NbNodes; + DELETEARRAY(mNodes); + mNodes = new AABBCollisionNode[mNbNodes]; + CHECKALLOC(mNodes); + } + + // Build the tree + udword CurID = 1; + _BuildCollisionTree(mNodes, 0, CurID, tree); + ASSERT(CurID==mNbNodes); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBCollisionTree::Refit(const MeshInterface* mesh_interface) +{ + ASSERT(!"Not implemented since AABBCollisionTrees have twice as more nodes to refit as AABBNoLeafTrees!"); + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBCollisionTree::Walk(GenericWalkingCallback callback, void* user_data) const +{ + if(!callback) return false; + + struct Local + { + static void _Walk(const AABBCollisionNode* current_node, GenericWalkingCallback callback, void* user_data) + { + if(!current_node || !(callback)(current_node, user_data)) return; + + if(!current_node->IsLeaf()) + { + _Walk(current_node->GetPos(), callback, user_data); + _Walk(current_node->GetNeg(), callback, user_data); + } + } + }; + Local::_Walk(mNodes, callback, user_data); + return true; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBNoLeafTree::AABBNoLeafTree() : mNodes(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBNoLeafTree::~AABBNoLeafTree() +{ + DELETEARRAY(mNodes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBNoLeafTree::Build(AABBTree* tree) +{ + // Checkings + if(!tree) return false; + // Check the input tree is complete + udword NbTriangles = tree->GetNbPrimitives(); + udword NbNodes = tree->GetNbNodes(); + if(NbNodes!=NbTriangles*2-1) return false; + + // Get nodes + if(mNbNodes!=NbTriangles-1) // Same number of nodes => keep moving + { + mNbNodes = NbTriangles-1; + DELETEARRAY(mNodes); + mNodes = new AABBNoLeafNode[mNbNodes]; + CHECKALLOC(mNodes); + } + + // Build the tree + udword CurID = 1; + _BuildNoLeafTree(mNodes, 0, CurID, tree); + ASSERT(CurID==mNbNodes); + + return true; +} + +inline_ void ComputeMinMax(IcePoint& min, IcePoint& max, const VertexPointers& vp) +{ + // Compute triangle's AABB = a leaf box +#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much + min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); + max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); + + min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); + max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); + + min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); + max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); +#else + min = *vp.Vertex[0]; + max = *vp.Vertex[0]; + min.Min(*vp.Vertex[1]); + max.Max(*vp.Vertex[1]); + min.Min(*vp.Vertex[2]); + max.Max(*vp.Vertex[2]); +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBNoLeafTree::Refit(const MeshInterface* mesh_interface) +{ + // Checkings + if(!mesh_interface) return false; + + // Bottom-up update + VertexPointers VP; + IcePoint Min,Max; + IcePoint Min_,Max_; + udword Index = mNbNodes; + while(Index--) + { + AABBNoLeafNode& Current = mNodes[Index]; + + if(Current.HasPosLeaf()) + { + mesh_interface->GetTriangle(VP, Current.GetPosPrimitive()); + ComputeMinMax(Min, Max, VP); + } + else + { + const CollisionAABB& CurrentBox = Current.GetPos()->mAABB; + CurrentBox.GetMin(Min); + CurrentBox.GetMax(Max); + } + + if(Current.HasNegLeaf()) + { + mesh_interface->GetTriangle(VP, Current.GetNegPrimitive()); + ComputeMinMax(Min_, Max_, VP); + } + else + { + const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB; + CurrentBox.GetMin(Min_); + CurrentBox.GetMax(Max_); + } +#ifdef OPC_USE_FCOMI + Min.x = FCMin2(Min.x, Min_.x); + Max.x = FCMax2(Max.x, Max_.x); + Min.y = FCMin2(Min.y, Min_.y); + Max.y = FCMax2(Max.y, Max_.y); + Min.z = FCMin2(Min.z, Min_.z); + Max.z = FCMax2(Max.z, Max_.z); +#else + Min.Min(Min_); + Max.Max(Max_); +#endif + Current.mAABB.SetMinMax(Min, Max); + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBNoLeafTree::Walk(GenericWalkingCallback callback, void* user_data) const +{ + if(!callback) return false; + + struct Local + { + static void _Walk(const AABBNoLeafNode* current_node, GenericWalkingCallback callback, void* user_data) + { + if(!current_node || !(callback)(current_node, user_data)) return; + + if(!current_node->HasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data); + if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data); + } + }; + Local::_Walk(mNodes, callback, user_data); + return true; +} + +// Quantization notes: +// - We could use the highest bits of mData to store some more quantized bits. Dequantization code +// would be slightly more complex, but number of overlap tests would be reduced (and anyhow those +// bits are currently wasted). Of course it's not possible if we move to 16 bits mData. +// - Something like "16 bits floats" could be tested, to bypass the int-to-float conversion. +// - A dedicated BV-BV test could be used, dequantizing while testing for overlap. (i.e. it's some +// lazy-dequantization which may save some work in case of early exits). At the very least some +// muls could be saved by precomputing several more matrices. But maybe not worth the pain. +// - Do we need to dequantize anyway? Not doing the extents-related muls only implies the box has +// been scaled, for example. +// - The deeper we move into the hierarchy, the smaller the extents should be. May not need a fixed +// number of quantization bits. Even better, could probably be best delta-encoded. + + +// Find max values. Some people asked why I wasn't simply using the first node. Well, I can't. +// I'm not looking for (min, max) values like in a standard AABB, I'm looking for the extremal +// centers/extents in order to quantize them. The first node would only give a single center and +// a single extents. While extents would be the biggest, the center wouldn't. +#define FIND_MAX_VALUES \ + /* Get max values */ \ + IcePoint CMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \ + IcePoint EMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \ + for(udword i=0;i<mNbNodes;i++) \ + { \ + if(fabsf(Nodes[i].mAABB.mCenter.x)>CMax.x) CMax.x = fabsf(Nodes[i].mAABB.mCenter.x); \ + if(fabsf(Nodes[i].mAABB.mCenter.y)>CMax.y) CMax.y = fabsf(Nodes[i].mAABB.mCenter.y); \ + if(fabsf(Nodes[i].mAABB.mCenter.z)>CMax.z) CMax.z = fabsf(Nodes[i].mAABB.mCenter.z); \ + if(fabsf(Nodes[i].mAABB.mExtents.x)>EMax.x) EMax.x = fabsf(Nodes[i].mAABB.mExtents.x); \ + if(fabsf(Nodes[i].mAABB.mExtents.y)>EMax.y) EMax.y = fabsf(Nodes[i].mAABB.mExtents.y); \ + if(fabsf(Nodes[i].mAABB.mExtents.z)>EMax.z) EMax.z = fabsf(Nodes[i].mAABB.mExtents.z); \ + } + +#define INIT_QUANTIZATION \ + udword nbc=15; /* Keep one bit for sign */ \ + udword nbe=15; /* Keep one bit for fix */ \ + if(!gFixQuantized) nbe++; \ + \ + /* Compute quantization coeffs */ \ + IcePoint CQuantCoeff, EQuantCoeff; \ + CQuantCoeff.x = CMax.x!=0.0f ? float((1<<nbc)-1)/CMax.x : 0.0f; \ + CQuantCoeff.y = CMax.y!=0.0f ? float((1<<nbc)-1)/CMax.y : 0.0f; \ + CQuantCoeff.z = CMax.z!=0.0f ? float((1<<nbc)-1)/CMax.z : 0.0f; \ + EQuantCoeff.x = EMax.x!=0.0f ? float((1<<nbe)-1)/EMax.x : 0.0f; \ + EQuantCoeff.y = EMax.y!=0.0f ? float((1<<nbe)-1)/EMax.y : 0.0f; \ + EQuantCoeff.z = EMax.z!=0.0f ? float((1<<nbe)-1)/EMax.z : 0.0f; \ + /* Compute and save dequantization coeffs */ \ + mCenterCoeff.x = CQuantCoeff.x!=0.0f ? 1.0f / CQuantCoeff.x : 0.0f; \ + mCenterCoeff.y = CQuantCoeff.y!=0.0f ? 1.0f / CQuantCoeff.y : 0.0f; \ + mCenterCoeff.z = CQuantCoeff.z!=0.0f ? 1.0f / CQuantCoeff.z : 0.0f; \ + mExtentsCoeff.x = EQuantCoeff.x!=0.0f ? 1.0f / EQuantCoeff.x : 0.0f; \ + mExtentsCoeff.y = EQuantCoeff.y!=0.0f ? 1.0f / EQuantCoeff.y : 0.0f; \ + mExtentsCoeff.z = EQuantCoeff.z!=0.0f ? 1.0f / EQuantCoeff.z : 0.0f; \ + +#define PERFORM_QUANTIZATION \ + /* Quantize */ \ + mNodes[i].mAABB.mCenter[0] = sword(Nodes[i].mAABB.mCenter.x * CQuantCoeff.x); \ + mNodes[i].mAABB.mCenter[1] = sword(Nodes[i].mAABB.mCenter.y * CQuantCoeff.y); \ + mNodes[i].mAABB.mCenter[2] = sword(Nodes[i].mAABB.mCenter.z * CQuantCoeff.z); \ + mNodes[i].mAABB.mExtents[0] = uword(Nodes[i].mAABB.mExtents.x * EQuantCoeff.x); \ + mNodes[i].mAABB.mExtents[1] = uword(Nodes[i].mAABB.mExtents.y * EQuantCoeff.y); \ + mNodes[i].mAABB.mExtents[2] = uword(Nodes[i].mAABB.mExtents.z * EQuantCoeff.z); \ + /* Fix quantized boxes */ \ + if(gFixQuantized) \ + { \ + /* Make sure the quantized box is still valid */ \ + IcePoint Max = Nodes[i].mAABB.mCenter + Nodes[i].mAABB.mExtents; \ + IcePoint Min = Nodes[i].mAABB.mCenter - Nodes[i].mAABB.mExtents; \ + /* For each axis */ \ + for(udword j=0;j<3;j++) \ + { /* Dequantize the box center */ \ + float qc = float(mNodes[i].mAABB.mCenter[j]) * mCenterCoeff[j]; \ + bool FixMe=true; \ + do \ + { /* Dequantize the box extent */ \ + float qe = float(mNodes[i].mAABB.mExtents[j]) * mExtentsCoeff[j]; \ + /* Compare real & dequantized values */ \ + if(qc+qe<Max[j] || qc-qe>Min[j]) mNodes[i].mAABB.mExtents[j]++; \ + else FixMe=false; \ + /* Prevent wrapping */ \ + if(!mNodes[i].mAABB.mExtents[j]) \ + { \ + mNodes[i].mAABB.mExtents[j]=0xffff; \ + FixMe=false; \ + } \ + }while(FixMe); \ + } \ + } + +#define REMAP_DATA(member) \ + /* Fix data */ \ + Data = Nodes[i].member; \ + if(!(Data&1)) \ + { \ + /* Compute box number */ \ + udword Nb = (Data - udword(Nodes))/Nodes[i].GetNodeSize(); \ + Data = udword(&mNodes[Nb]); \ + } \ + /* ...remapped */ \ + mNodes[i].member = Data; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBQuantizedTree::AABBQuantizedTree() : mNodes(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBQuantizedTree::~AABBQuantizedTree() +{ + DELETEARRAY(mNodes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedTree::Build(AABBTree* tree) +{ + // Checkings + if(!tree) return false; + // Check the input tree is complete + udword NbTriangles = tree->GetNbPrimitives(); + udword NbNodes = tree->GetNbNodes(); + if(NbNodes!=NbTriangles*2-1) return false; + + // Get nodes + mNbNodes = NbNodes; + DELETEARRAY(mNodes); + AABBCollisionNode* Nodes = new AABBCollisionNode[mNbNodes]; + CHECKALLOC(Nodes); + + // Build the tree + udword CurID = 1; + _BuildCollisionTree(Nodes, 0, CurID, tree); + + // Quantize + { + mNodes = new AABBQuantizedNode[mNbNodes]; + CHECKALLOC(mNodes); + + // Get max values + FIND_MAX_VALUES + + // Quantization + INIT_QUANTIZATION + + // Quantize + udword Data; + for(udword i=0;i<mNbNodes;i++) + { + PERFORM_QUANTIZATION + REMAP_DATA(mData) + } + + DELETEARRAY(Nodes); + } + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedTree::Refit(const MeshInterface* mesh_interface) +{ + ASSERT(!"Not implemented since requantizing is painful !"); + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedTree::Walk(GenericWalkingCallback callback, void* user_data) const +{ + if(!callback) return false; + + struct Local + { + static void _Walk(const AABBQuantizedNode* current_node, GenericWalkingCallback callback, void* user_data) + { + if(!current_node || !(callback)(current_node, user_data)) return; + + if(!current_node->IsLeaf()) + { + _Walk(current_node->GetPos(), callback, user_data); + _Walk(current_node->GetNeg(), callback, user_data); + } + } + }; + Local::_Walk(mNodes, callback, user_data); + return true; +} + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBQuantizedNoLeafTree::AABBQuantizedNoLeafTree() : mNodes(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBQuantizedNoLeafTree::~AABBQuantizedNoLeafTree() +{ + DELETEARRAY(mNodes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedNoLeafTree::Build(AABBTree* tree) +{ + // Checkings + if(!tree) return false; + // Check the input tree is complete + udword NbTriangles = tree->GetNbPrimitives(); + udword NbNodes = tree->GetNbNodes(); + if(NbNodes!=NbTriangles*2-1) return false; + + // Get nodes + mNbNodes = NbTriangles-1; + DELETEARRAY(mNodes); + AABBNoLeafNode* Nodes = new AABBNoLeafNode[mNbNodes]; + CHECKALLOC(Nodes); + + // Build the tree + udword CurID = 1; + _BuildNoLeafTree(Nodes, 0, CurID, tree); + ASSERT(CurID==mNbNodes); + + // Quantize + { + mNodes = new AABBQuantizedNoLeafNode[mNbNodes]; + CHECKALLOC(mNodes); + + // Get max values + FIND_MAX_VALUES + + // Quantization + INIT_QUANTIZATION + + // Quantize + udword Data; + for(udword i=0;i<mNbNodes;i++) + { + PERFORM_QUANTIZATION + REMAP_DATA(mPosData) + REMAP_DATA(mNegData) + } + + DELETEARRAY(Nodes); + } + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedNoLeafTree::Refit(const MeshInterface* mesh_interface) +{ + ASSERT(!"Not implemented since requantizing is painful !"); + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedNoLeafTree::Walk(GenericWalkingCallback callback, void* user_data) const +{ + if(!callback) return false; + + struct Local + { + static void _Walk(const AABBQuantizedNoLeafNode* current_node, GenericWalkingCallback callback, void* user_data) + { + if(!current_node || !(callback)(current_node, user_data)) return; + + if(!current_node->HasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data); + if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data); + } + }; + Local::_Walk(mNodes, callback, user_data); + return true; +} diff --git a/Opcode/OPC_OptimizedTree.h b/Opcode/OPC_OptimizedTree.h index cda2959..c36e21e 100644 --- a/Opcode/OPC_OptimizedTree.h +++ b/Opcode/OPC_OptimizedTree.h @@ -1,206 +1,206 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for optimized trees.
- * \file OPC_OptimizedTree.h
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_OPTIMIZEDTREE_H__
-#define __OPC_OPTIMIZEDTREE_H__
-
- //! Common interface for a node of an implicit tree
- #define IMPLEMENT_IMPLICIT_NODE(base_class, volume) \
- public: \
- /* Constructor / Destructor */ \
- inline_ base_class() : mData(0) {} \
- inline_ ~base_class() {} \
- /* Leaf test */ \
- inline_ BOOL IsLeaf() const { return mData&1; } \
- /* Data access */ \
- inline_ const base_class* GetPos() const { return (base_class*)mData; } \
- inline_ const base_class* GetNeg() const { return ((base_class*)mData)+1; } \
- inline_ udword GetPrimitive() const { return (mData>>1); } \
- /* Stats */ \
- inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
- \
- volume mAABB; \
- udword mData;
-
- //! Common interface for a node of a no-leaf tree
- #define IMPLEMENT_NOLEAF_NODE(base_class, volume) \
- public: \
- /* Constructor / Destructor */ \
- inline_ base_class() : mPosData(0), mNegData(0) {} \
- inline_ ~base_class() {} \
- /* Leaf tests */ \
- inline_ BOOL HasPosLeaf() const { return mPosData&1; } \
- inline_ BOOL HasNegLeaf() const { return mNegData&1; } \
- /* Data access */ \
- inline_ const base_class* GetPos() const { return (base_class*)mPosData; } \
- inline_ const base_class* GetNeg() const { return (base_class*)mNegData; } \
- inline_ udword GetPosPrimitive() const { return (mPosData>>1); } \
- inline_ udword GetNegPrimitive() const { return (mNegData>>1); } \
- /* Stats */ \
- inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
- \
- volume mAABB; \
- udword mPosData; \
- udword mNegData;
-
- class OPCODE_API AABBCollisionNode
- {
- IMPLEMENT_IMPLICIT_NODE(AABBCollisionNode, CollisionAABB)
-
- inline_ float GetVolume() const { return mAABB.mExtents.x * mAABB.mExtents.y * mAABB.mExtents.z; }
- inline_ float GetSize() const { return mAABB.mExtents.SquareMagnitude(); }
- inline_ udword GetRadius() const
- {
- udword* Bits = (udword*)&mAABB.mExtents.x;
- udword Max = Bits[0];
- if(Bits[1]>Max) Max = Bits[1];
- if(Bits[2]>Max) Max = Bits[2];
- return Max;
- }
-
- // NB: using the square-magnitude or the true volume of the box, seems to yield better results
- // (assuming UNC-like informed traversal methods). I borrowed this idea from PQP. The usual "size"
- // otherwise, is the largest box extent. In SOLID that extent is computed on-the-fly each time it's
- // needed (the best approach IMHO). In RAPID the rotation matrix is permuted so that Extent[0] is
- // always the greatest, which saves looking for it at runtime. On the other hand, it yields matrices
- // whose determinant is not 1, i.e. you can't encode them anymore as unit quaternions. Not a very
- // good strategy.
- };
-
- class OPCODE_API AABBQuantizedNode
- {
- IMPLEMENT_IMPLICIT_NODE(AABBQuantizedNode, QuantizedAABB)
-
- inline_ uword GetSize() const
- {
- const uword* Bits = mAABB.mExtents;
- uword Max = Bits[0];
- if(Bits[1]>Max) Max = Bits[1];
- if(Bits[2]>Max) Max = Bits[2];
- return Max;
- }
- // NB: for quantized nodes I don't feel like computing a square-magnitude with integers all
- // over the place.......!
- };
-
- class OPCODE_API AABBNoLeafNode
- {
- IMPLEMENT_NOLEAF_NODE(AABBNoLeafNode, CollisionAABB)
- };
-
- class OPCODE_API AABBQuantizedNoLeafNode
- {
- IMPLEMENT_NOLEAF_NODE(AABBQuantizedNoLeafNode, QuantizedAABB)
- };
-
- //! Common interface for a collision tree
- #define IMPLEMENT_COLLISION_TREE(base_class, node) \
- public: \
- /* Constructor / Destructor */ \
- base_class(); \
- virtual ~base_class(); \
- /* Builds from a standard tree */ \
- override(AABBOptimizedTree) bool Build(AABBTree* tree); \
- /* Refits the tree */ \
- override(AABBOptimizedTree) bool Refit(const MeshInterface* mesh_interface); \
- /* Walks the tree */ \
- override(AABBOptimizedTree) bool Walk(GenericWalkingCallback callback, void* user_data) const; \
- /* Data access */ \
- inline_ const node* GetNodes() const { return mNodes; } \
- /* Stats */ \
- override(AABBOptimizedTree) udword GetUsedBytes() const { return mNbNodes*sizeof(node); } \
- private: \
- node* mNodes;
-
- typedef bool (*GenericWalkingCallback) (const void* current, void* user_data);
-
- class OPCODE_API AABBOptimizedTree
- {
- public:
- // Constructor / Destructor
- AABBOptimizedTree() :
- mNbNodes (0)
- {}
- virtual ~AABBOptimizedTree() {}
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Builds the collision tree from a generic AABB tree.
- * \param tree [in] generic AABB tree
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual bool Build(AABBTree* tree) = 0;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Refits the collision tree after vertices have been modified.
- * \param mesh_interface [in] mesh interface for current model
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual bool Refit(const MeshInterface* mesh_interface) = 0;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Walks the tree and call the user back for each node.
- * \param callback [in] walking callback
- * \param user_data [in] callback's user data
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual bool Walk(GenericWalkingCallback callback, void* user_data) const = 0;
-
- // Data access
- virtual udword GetUsedBytes() const = 0;
- inline_ udword GetNbNodes() const { return mNbNodes; }
-
- protected:
- udword mNbNodes;
- };
-
- class OPCODE_API AABBCollisionTree : public AABBOptimizedTree
- {
- IMPLEMENT_COLLISION_TREE(AABBCollisionTree, AABBCollisionNode)
- };
-
- class OPCODE_API AABBNoLeafTree : public AABBOptimizedTree
- {
- IMPLEMENT_COLLISION_TREE(AABBNoLeafTree, AABBNoLeafNode)
- };
-
- class OPCODE_API AABBQuantizedTree : public AABBOptimizedTree
- {
- IMPLEMENT_COLLISION_TREE(AABBQuantizedTree, AABBQuantizedNode)
-
- public:
- IcePoint mCenterCoeff;
- IcePoint mExtentsCoeff;
- };
-
- class OPCODE_API AABBQuantizedNoLeafTree : public AABBOptimizedTree
- {
- IMPLEMENT_COLLISION_TREE(AABBQuantizedNoLeafTree, AABBQuantizedNoLeafNode)
-
- public:
- IcePoint mCenterCoeff;
- IcePoint mExtentsCoeff;
- };
-
-#endif // __OPC_OPTIMIZEDTREE_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for optimized trees. + * \file OPC_OptimizedTree.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_OPTIMIZEDTREE_H__ +#define __OPC_OPTIMIZEDTREE_H__ + + //! Common interface for a node of an implicit tree + #define IMPLEMENT_IMPLICIT_NODE(base_class, volume) \ + public: \ + /* Constructor / Destructor */ \ + inline_ base_class() : mData(0) {} \ + inline_ ~base_class() {} \ + /* Leaf test */ \ + inline_ BOOL IsLeaf() const { return mData&1; } \ + /* Data access */ \ + inline_ const base_class* GetPos() const { return (base_class*)mData; } \ + inline_ const base_class* GetNeg() const { return ((base_class*)mData)+1; } \ + inline_ udword GetPrimitive() const { return (mData>>1); } \ + /* Stats */ \ + inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ + \ + volume mAABB; \ + udword mData; + + //! Common interface for a node of a no-leaf tree + #define IMPLEMENT_NOLEAF_NODE(base_class, volume) \ + public: \ + /* Constructor / Destructor */ \ + inline_ base_class() : mPosData(0), mNegData(0) {} \ + inline_ ~base_class() {} \ + /* Leaf tests */ \ + inline_ BOOL HasPosLeaf() const { return mPosData&1; } \ + inline_ BOOL HasNegLeaf() const { return mNegData&1; } \ + /* Data access */ \ + inline_ const base_class* GetPos() const { return (base_class*)mPosData; } \ + inline_ const base_class* GetNeg() const { return (base_class*)mNegData; } \ + inline_ udword GetPosPrimitive() const { return (mPosData>>1); } \ + inline_ udword GetNegPrimitive() const { return (mNegData>>1); } \ + /* Stats */ \ + inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ + \ + volume mAABB; \ + udword mPosData; \ + udword mNegData; + + class OPCODE_API AABBCollisionNode + { + IMPLEMENT_IMPLICIT_NODE(AABBCollisionNode, CollisionAABB) + + inline_ float GetVolume() const { return mAABB.mExtents.x * mAABB.mExtents.y * mAABB.mExtents.z; } + inline_ float GetSize() const { return mAABB.mExtents.SquareMagnitude(); } + inline_ udword GetRadius() const + { + udword* Bits = (udword*)&mAABB.mExtents.x; + udword Max = Bits[0]; + if(Bits[1]>Max) Max = Bits[1]; + if(Bits[2]>Max) Max = Bits[2]; + return Max; + } + + // NB: using the square-magnitude or the true volume of the box, seems to yield better results + // (assuming UNC-like informed traversal methods). I borrowed this idea from PQP. The usual "size" + // otherwise, is the largest box extent. In SOLID that extent is computed on-the-fly each time it's + // needed (the best approach IMHO). In RAPID the rotation matrix is permuted so that Extent[0] is + // always the greatest, which saves looking for it at runtime. On the other hand, it yields matrices + // whose determinant is not 1, i.e. you can't encode them anymore as unit quaternions. Not a very + // good strategy. + }; + + class OPCODE_API AABBQuantizedNode + { + IMPLEMENT_IMPLICIT_NODE(AABBQuantizedNode, QuantizedAABB) + + inline_ uword GetSize() const + { + const uword* Bits = mAABB.mExtents; + uword Max = Bits[0]; + if(Bits[1]>Max) Max = Bits[1]; + if(Bits[2]>Max) Max = Bits[2]; + return Max; + } + // NB: for quantized nodes I don't feel like computing a square-magnitude with integers all + // over the place.......! + }; + + class OPCODE_API AABBNoLeafNode + { + IMPLEMENT_NOLEAF_NODE(AABBNoLeafNode, CollisionAABB) + }; + + class OPCODE_API AABBQuantizedNoLeafNode + { + IMPLEMENT_NOLEAF_NODE(AABBQuantizedNoLeafNode, QuantizedAABB) + }; + + //! Common interface for a collision tree + #define IMPLEMENT_COLLISION_TREE(base_class, node) \ + public: \ + /* Constructor / Destructor */ \ + base_class(); \ + virtual ~base_class(); \ + /* Builds from a standard tree */ \ + override(AABBOptimizedTree) bool Build(AABBTree* tree); \ + /* Refits the tree */ \ + override(AABBOptimizedTree) bool Refit(const MeshInterface* mesh_interface); \ + /* Walks the tree */ \ + override(AABBOptimizedTree) bool Walk(GenericWalkingCallback callback, void* user_data) const; \ + /* Data access */ \ + inline_ const node* GetNodes() const { return mNodes; } \ + /* Stats */ \ + override(AABBOptimizedTree) udword GetUsedBytes() const { return mNbNodes*sizeof(node); } \ + private: \ + node* mNodes; + + typedef bool (*GenericWalkingCallback) (const void* current, void* user_data); + + class OPCODE_API AABBOptimizedTree + { + public: + // Constructor / Destructor + AABBOptimizedTree() : + mNbNodes (0) + {} + virtual ~AABBOptimizedTree() {} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Build(AABBTree* tree) = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Refit(const MeshInterface* mesh_interface) = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Walk(GenericWalkingCallback callback, void* user_data) const = 0; + + // Data access + virtual udword GetUsedBytes() const = 0; + inline_ udword GetNbNodes() const { return mNbNodes; } + + protected: + udword mNbNodes; + }; + + class OPCODE_API AABBCollisionTree : public AABBOptimizedTree + { + IMPLEMENT_COLLISION_TREE(AABBCollisionTree, AABBCollisionNode) + }; + + class OPCODE_API AABBNoLeafTree : public AABBOptimizedTree + { + IMPLEMENT_COLLISION_TREE(AABBNoLeafTree, AABBNoLeafNode) + }; + + class OPCODE_API AABBQuantizedTree : public AABBOptimizedTree + { + IMPLEMENT_COLLISION_TREE(AABBQuantizedTree, AABBQuantizedNode) + + public: + IcePoint mCenterCoeff; + IcePoint mExtentsCoeff; + }; + + class OPCODE_API AABBQuantizedNoLeafTree : public AABBOptimizedTree + { + IMPLEMENT_COLLISION_TREE(AABBQuantizedNoLeafTree, AABBQuantizedNoLeafNode) + + public: + IcePoint mCenterCoeff; + IcePoint mExtentsCoeff; + }; + +#endif // __OPC_OPTIMIZEDTREE_H__ diff --git a/Opcode/OPC_Picking.cpp b/Opcode/OPC_Picking.cpp index 5971971..5a48403 100644 --- a/Opcode/OPC_Picking.cpp +++ b/Opcode/OPC_Picking.cpp @@ -1,182 +1,182 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code to perform "picking".
- * \file OPC_Picking.cpp
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-#ifdef OPC_RAYHIT_CALLBACK
-
-/*
- Possible RayCollider usages:
- - boolean query (shadow feeler)
- - closest hit
- - all hits
- - number of intersection (boolean)
-
-*/
-
-bool Opcode::SetupAllHits(RayCollider& collider, CollisionFaces& contacts)
-{
- struct Local
- {
- static void AllContacts(const CollisionFace& hit, void* user_data)
- {
- CollisionFaces* CF = (CollisionFaces*)user_data;
- CF->AddFace(hit);
- }
- };
-
- collider.SetFirstContact(false);
- collider.SetHitCallback(Local::AllContacts);
- collider.SetUserData(&contacts);
- return true;
-}
-
-bool Opcode::SetupClosestHit(RayCollider& collider, CollisionFace& closest_contact)
-{
- struct Local
- {
- static void ClosestContact(const CollisionFace& hit, void* user_data)
- {
- CollisionFace* CF = (CollisionFace*)user_data;
- if(hit.mDistance<CF->mDistance) *CF = hit;
- }
- };
-
- collider.SetFirstContact(false);
- collider.SetHitCallback(Local::ClosestContact);
- collider.SetUserData(&closest_contact);
- closest_contact.mDistance = MAX_FLOAT;
- return true;
-}
-
-bool Opcode::SetupShadowFeeler(RayCollider& collider)
-{
- collider.SetFirstContact(true);
- collider.SetHitCallback(null);
- return true;
-}
-
-bool Opcode::SetupInOutTest(RayCollider& collider)
-{
- collider.SetFirstContact(false);
- collider.SetHitCallback(null);
- // Results with collider.GetNbIntersections()
- return true;
-}
-
-bool Opcode::Picking(
-CollisionFace& picked_face,
-const Ray& world_ray, const Model& model, const Matrix4x4* world,
-float min_dist, float max_dist, const IcePoint& view_point, CullModeCallback callback, void* user_data)
-{
- struct Local
- {
- struct CullData
- {
- CollisionFace* Closest;
- float MinLimit;
- CullModeCallback Callback;
- void* UserData;
- IcePoint ViewPoint;
- const MeshInterface* IMesh;
- };
-
- // Called for each stabbed face
- static void RenderCullingCallback(const CollisionFace& hit, void* user_data)
- {
- CullData* Data = (CullData*)user_data;
-
- // Discard face if we already have a closer hit
- if(hit.mDistance>=Data->Closest->mDistance) return;
-
- // Discard face if hit IcePoint is smaller than min limit. This mainly happens when the face is in front
- // of the near clip plane (or straddles it). If we keep the face nonetheless, the user can select an
- // object that he may not even be able to see, which is very annoying.
- if(hit.mDistance<=Data->MinLimit) return;
-
- // This is the index of currently stabbed triangle.
- udword StabbedFaceIndex = hit.mFaceID;
-
- // We may keep it or not, depending on backface culling
- bool KeepIt = true;
-
- // Catch *render* cull mode for this face
- CullMode CM = (Data->Callback)(StabbedFaceIndex, Data->UserData);
-
- if(CM!=CULLMODE_NONE) // Don't even compute culling for double-sided triangles
- {
- // Compute backface culling for current face
-
- VertexPointers VP;
- Data->IMesh->GetTriangle(VP, StabbedFaceIndex);
- if(VP.BackfaceCulling(Data->ViewPoint))
- {
- if(CM==CULLMODE_CW) KeepIt = false;
- }
- else
- {
- if(CM==CULLMODE_CCW) KeepIt = false;
- }
- }
-
- if(KeepIt) *Data->Closest = hit;
- }
- };
-
- RayCollider RC;
- RC.SetMaxDist(max_dist);
- RC.SetTemporalCoherence(false);
- RC.SetCulling(false); // We need all faces since some of them can be double-sided
- RC.SetFirstContact(false);
- RC.SetHitCallback(Local::RenderCullingCallback);
-
- picked_face.mFaceID = INVALID_ID;
- picked_face.mDistance = MAX_FLOAT;
- picked_face.mU = 0.0f;
- picked_face.mV = 0.0f;
-
- Local::CullData Data;
- Data.Closest = &picked_face;
- Data.MinLimit = min_dist;
- Data.Callback = callback;
- Data.UserData = user_data;
- Data.ViewPoint = view_point;
- Data.IMesh = model.GetMeshInterface();
-
- if(world)
- {
- // Get matrices
- Matrix4x4 InvWorld;
- InvertPRMatrix(InvWorld, *world);
-
- // Compute camera position in mesh space
- Data.ViewPoint *= InvWorld;
- }
-
- RC.SetUserData(&Data);
- if(RC.Collide(world_ray, model, world))
- {
- return picked_face.mFaceID!=INVALID_ID;
- }
- return false;
-}
-
-#endif
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code to perform "picking". + * \file OPC_Picking.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +#ifdef OPC_RAYHIT_CALLBACK + +/* + Possible RayCollider usages: + - boolean query (shadow feeler) + - closest hit + - all hits + - number of intersection (boolean) + +*/ + +bool Opcode::SetupAllHits(RayCollider& collider, CollisionFaces& contacts) +{ + struct Local + { + static void AllContacts(const CollisionFace& hit, void* user_data) + { + CollisionFaces* CF = (CollisionFaces*)user_data; + CF->AddFace(hit); + } + }; + + collider.SetFirstContact(false); + collider.SetHitCallback(Local::AllContacts); + collider.SetUserData(&contacts); + return true; +} + +bool Opcode::SetupClosestHit(RayCollider& collider, CollisionFace& closest_contact) +{ + struct Local + { + static void ClosestContact(const CollisionFace& hit, void* user_data) + { + CollisionFace* CF = (CollisionFace*)user_data; + if(hit.mDistance<CF->mDistance) *CF = hit; + } + }; + + collider.SetFirstContact(false); + collider.SetHitCallback(Local::ClosestContact); + collider.SetUserData(&closest_contact); + closest_contact.mDistance = MAX_FLOAT; + return true; +} + +bool Opcode::SetupShadowFeeler(RayCollider& collider) +{ + collider.SetFirstContact(true); + collider.SetHitCallback(null); + return true; +} + +bool Opcode::SetupInOutTest(RayCollider& collider) +{ + collider.SetFirstContact(false); + collider.SetHitCallback(null); + // Results with collider.GetNbIntersections() + return true; +} + +bool Opcode::Picking( +CollisionFace& picked_face, +const Ray& world_ray, const Model& model, const Matrix4x4* world, +float min_dist, float max_dist, const IcePoint& view_point, CullModeCallback callback, void* user_data) +{ + struct Local + { + struct CullData + { + CollisionFace* Closest; + float MinLimit; + CullModeCallback Callback; + void* UserData; + IcePoint ViewPoint; + const MeshInterface* IMesh; + }; + + // Called for each stabbed face + static void RenderCullingCallback(const CollisionFace& hit, void* user_data) + { + CullData* Data = (CullData*)user_data; + + // Discard face if we already have a closer hit + if(hit.mDistance>=Data->Closest->mDistance) return; + + // Discard face if hit IcePoint is smaller than min limit. This mainly happens when the face is in front + // of the near clip plane (or straddles it). If we keep the face nonetheless, the user can select an + // object that he may not even be able to see, which is very annoying. + if(hit.mDistance<=Data->MinLimit) return; + + // This is the index of currently stabbed triangle. + udword StabbedFaceIndex = hit.mFaceID; + + // We may keep it or not, depending on backface culling + bool KeepIt = true; + + // Catch *render* cull mode for this face + CullMode CM = (Data->Callback)(StabbedFaceIndex, Data->UserData); + + if(CM!=CULLMODE_NONE) // Don't even compute culling for double-sided triangles + { + // Compute backface culling for current face + + VertexPointers VP; + Data->IMesh->GetTriangle(VP, StabbedFaceIndex); + if(VP.BackfaceCulling(Data->ViewPoint)) + { + if(CM==CULLMODE_CW) KeepIt = false; + } + else + { + if(CM==CULLMODE_CCW) KeepIt = false; + } + } + + if(KeepIt) *Data->Closest = hit; + } + }; + + RayCollider RC; + RC.SetMaxDist(max_dist); + RC.SetTemporalCoherence(false); + RC.SetCulling(false); // We need all faces since some of them can be double-sided + RC.SetFirstContact(false); + RC.SetHitCallback(Local::RenderCullingCallback); + + picked_face.mFaceID = INVALID_ID; + picked_face.mDistance = MAX_FLOAT; + picked_face.mU = 0.0f; + picked_face.mV = 0.0f; + + Local::CullData Data; + Data.Closest = &picked_face; + Data.MinLimit = min_dist; + Data.Callback = callback; + Data.UserData = user_data; + Data.ViewPoint = view_point; + Data.IMesh = model.GetMeshInterface(); + + if(world) + { + // Get matrices + Matrix4x4 InvWorld; + InvertPRMatrix(InvWorld, *world); + + // Compute camera position in mesh space + Data.ViewPoint *= InvWorld; + } + + RC.SetUserData(&Data); + if(RC.Collide(world_ray, model, world)) + { + return picked_face.mFaceID!=INVALID_ID; + } + return false; +} + +#endif diff --git a/Opcode/OPC_Picking.h b/Opcode/OPC_Picking.h index fa5dfc0..cae5402 100644 --- a/Opcode/OPC_Picking.h +++ b/Opcode/OPC_Picking.h @@ -1,45 +1,45 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code to perform "picking".
- * \file OPC_Picking.h
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_PICKING_H__
-#define __OPC_PICKING_H__
-
-#ifdef OPC_RAYHIT_CALLBACK
-
- enum CullMode
- {
- CULLMODE_NONE = 0,
- CULLMODE_CW = 1,
- CULLMODE_CCW = 2
- };
-
- typedef CullMode (*CullModeCallback)(udword triangle_index, void* user_data);
-
- OPCODE_API bool SetupAllHits (RayCollider& collider, CollisionFaces& contacts);
- OPCODE_API bool SetupClosestHit (RayCollider& collider, CollisionFace& closest_contact);
- OPCODE_API bool SetupShadowFeeler (RayCollider& collider);
- OPCODE_API bool SetupInOutTest (RayCollider& collider);
-
- OPCODE_API bool Picking(
- CollisionFace& picked_face,
- const Ray& world_ray, const Model& model, const Matrix4x4* world,
- float min_dist, float max_dist, const IcePoint& view_point, CullModeCallback callback, void* user_data);
-#endif
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code to perform "picking". + * \file OPC_Picking.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_PICKING_H__ +#define __OPC_PICKING_H__ + +#ifdef OPC_RAYHIT_CALLBACK + + enum CullMode + { + CULLMODE_NONE = 0, + CULLMODE_CW = 1, + CULLMODE_CCW = 2 + }; + + typedef CullMode (*CullModeCallback)(udword triangle_index, void* user_data); + + OPCODE_API bool SetupAllHits (RayCollider& collider, CollisionFaces& contacts); + OPCODE_API bool SetupClosestHit (RayCollider& collider, CollisionFace& closest_contact); + OPCODE_API bool SetupShadowFeeler (RayCollider& collider); + OPCODE_API bool SetupInOutTest (RayCollider& collider); + + OPCODE_API bool Picking( + CollisionFace& picked_face, + const Ray& world_ray, const Model& model, const Matrix4x4* world, + float min_dist, float max_dist, const IcePoint& view_point, CullModeCallback callback, void* user_data); +#endif + #endif //__OPC_PICKING_H__
\ No newline at end of file diff --git a/Opcode/OPC_PlanesAABBOverlap.h b/Opcode/OPC_PlanesAABBOverlap.h index 27d0055..2bc70d7 100644 --- a/Opcode/OPC_PlanesAABBOverlap.h +++ b/Opcode/OPC_PlanesAABBOverlap.h @@ -1,50 +1,50 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Planes-AABB overlap test.
- * - original code by Ville Miettinen, from Umbra/dPVS (released on the GD-Algorithms mailing list)
- * - almost used "as-is", I even left the comments (hence the frustum-related notes)
- *
- * \param center [in] box center
- * \param extents [in] box extents
- * \param out_clip_mask [out] bitmask for active planes
- * \param in_clip_mask [in] bitmask for active planes
- * \return TRUE if boxes overlap planes
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL PlanesCollider::PlanesAABBOverlap(const IcePoint& center, const IcePoint& extents, udword& out_clip_mask, udword in_clip_mask)
-{
- // Stats
- mNbVolumeBVTests++;
-
- const IcePlane* p = mPlanes;
-
- // Evaluate through all active frustum planes. We determine the relation
- // between the AABB and a plane by using the concept of "near" and "far"
- // vertices originally described by Zhang (and later by Möller). Our
- // variant here uses 3 fabs ops, 6 muls, 7 adds and two floating IcePoint
- // comparisons per plane. The routine early-exits if the AABB is found
- // to be outside any of the planes. The loop also constructs a new output
- // clip mask. Most FPUs have a native single-cycle fabsf() operation.
-
- udword Mask = 1; // current mask index (1,2,4,8,..)
- udword TmpOutClipMask = 0; // initialize output clip mask into empty.
-
- while(Mask<=in_clip_mask) // keep looping while we have active planes left...
- {
- if(in_clip_mask & Mask) // if clip plane is active, process it..
- {
- float NP = extents.x*fabsf(p->n.x) + extents.y*fabsf(p->n.y) + extents.z*fabsf(p->n.z); // ### fabsf could be precomputed
- float MP = center.x*p->n.x + center.y*p->n.y + center.z*p->n.z + p->d;
-
- if(NP < MP) // near vertex behind the clip plane...
- return FALSE; // .. so there is no intersection..
- if((-NP) < MP) // near and far vertices on different sides of plane..
- TmpOutClipMask |= Mask; // .. so update the clip mask...
- }
- Mask+=Mask; // mk = (1<<plane)
- p++; // advance to next plane
- }
-
- out_clip_mask = TmpOutClipMask; // copy output value (temp used to resolve aliasing!)
- return TRUE; // indicate that AABB intersects frustum
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Planes-AABB overlap test. + * - original code by Ville Miettinen, from Umbra/dPVS (released on the GD-Algorithms mailing list) + * - almost used "as-is", I even left the comments (hence the frustum-related notes) + * + * \param center [in] box center + * \param extents [in] box extents + * \param out_clip_mask [out] bitmask for active planes + * \param in_clip_mask [in] bitmask for active planes + * \return TRUE if boxes overlap planes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL PlanesCollider::PlanesAABBOverlap(const IcePoint& center, const IcePoint& extents, udword& out_clip_mask, udword in_clip_mask) +{ + // Stats + mNbVolumeBVTests++; + + const IcePlane* p = mPlanes; + + // Evaluate through all active frustum planes. We determine the relation + // between the AABB and a plane by using the concept of "near" and "far" + // vertices originally described by Zhang (and later by Möller). Our + // variant here uses 3 fabs ops, 6 muls, 7 adds and two floating IcePoint + // comparisons per plane. The routine early-exits if the AABB is found + // to be outside any of the planes. The loop also constructs a new output + // clip mask. Most FPUs have a native single-cycle fabsf() operation. + + udword Mask = 1; // current mask index (1,2,4,8,..) + udword TmpOutClipMask = 0; // initialize output clip mask into empty. + + while(Mask<=in_clip_mask) // keep looping while we have active planes left... + { + if(in_clip_mask & Mask) // if clip plane is active, process it.. + { + float NP = extents.x*fabsf(p->n.x) + extents.y*fabsf(p->n.y) + extents.z*fabsf(p->n.z); // ### fabsf could be precomputed + float MP = center.x*p->n.x + center.y*p->n.y + center.z*p->n.z + p->d; + + if(NP < MP) // near vertex behind the clip plane... + return FALSE; // .. so there is no intersection.. + if((-NP) < MP) // near and far vertices on different sides of plane.. + TmpOutClipMask |= Mask; // .. so update the clip mask... + } + Mask+=Mask; // mk = (1<<plane) + p++; // advance to next plane + } + + out_clip_mask = TmpOutClipMask; // copy output value (temp used to resolve aliasing!) + return TRUE; // indicate that AABB intersects frustum +} diff --git a/Opcode/OPC_PlanesCollider.cpp b/Opcode/OPC_PlanesCollider.cpp index 2ee6686..2f827f7 100644 --- a/Opcode/OPC_PlanesCollider.cpp +++ b/Opcode/OPC_PlanesCollider.cpp @@ -1,653 +1,653 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for a planes collider.
- * \file OPC_PlanesCollider.cpp
- * \author Pierre Terdiman
- * \date January, 1st, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a Planes-vs-tree collider.
- *
- * \class PlanesCollider
- * \author Pierre Terdiman
- * \version 1.3
- * \date January, 1st, 2002
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-#include "OPC_PlanesAABBOverlap.h"
-#include "OPC_PlanesTriOverlap.h"
-
-#define SET_CONTACT(prim_index, flag) \
- /* Set contact status */ \
- mFlags |= flag; \
- mTouchedPrimitives->Add(prim_index);
-
-//! Planes-triangle test
-#define PLANES_PRIM(prim_index, flag) \
- /* Request vertices from the app */ \
- mIMesh->GetTriangle(mVP, prim_index); \
- /* Perform triangle-box overlap test */ \
- if(PlanesTriOverlap(clip_mask)) \
- { \
- SET_CONTACT(prim_index, flag) \
- }
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-PlanesCollider::PlanesCollider() :
- mPlanes (null),
- mNbPlanes (0)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-PlanesCollider::~PlanesCollider()
-{
- DELETEARRAY(mPlanes);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Validates current settings. You should call this method after all the settings and callbacks have been defined.
- * \return null if everything is ok, else a string describing the problem
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const char* PlanesCollider::ValidateSettings()
-{
- if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!";
-
- return VolumeCollider::ValidateSettings();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Generic collision query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - with GetNbTouchedPrimitives()
- * - with GetTouchedPrimitives()
- *
- * \param cache [in/out] a planes cache
- * \param planes [in] list of planes in world space
- * \param nb_planes [in] number of planes
- * \param model [in] Opcode model to collide with
- * \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 PlanesCollider::Collide(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm)
-{
- // Checkings
- if(!Setup(&model)) return false;
-
- // Init collision query
- if(InitQuery(cache, planes, nb_planes, worldm)) return true;
-
- udword PlaneMask = (1<<nb_planes)-1;
-
- 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(), PlaneMask);
- else _Collide(Tree->GetNodes(), PlaneMask);
- }
- else
- {
- const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
-
- // Perform collision query
- if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
- else _Collide(Tree->GetNodes(), PlaneMask);
- }
- }
- 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(), PlaneMask);
- else _Collide(Tree->GetNodes(), PlaneMask);
- }
- else
- {
- const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
-
- // Perform collision query
- if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
- else _Collide(Tree->GetNodes(), PlaneMask);
- }
- }
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Initializes a collision query :
- * - reset stats & contact status
- * - compute planes in model space
- * - check temporal coherence
- *
- * \param cache [in/out] a planes cache
- * \param planes [in] list of planes
- * \param nb_planes [in] number of planes
- * \param worldm [in] model's world matrix, or null
- * \return TRUE if we can return immediately
- * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-BOOL PlanesCollider::InitQuery(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const Matrix4x4* worldm)
-{
- // 1) Call the base method
- VolumeCollider::InitQuery();
-
- // 2) Compute planes in model space
- if(nb_planes>mNbPlanes)
- {
- DELETEARRAY(mPlanes);
- mPlanes = new IcePlane[nb_planes];
- }
- mNbPlanes = nb_planes;
-
- if(worldm)
- {
- Matrix4x4 InvWorldM;
- InvertPRMatrix(InvWorldM, *worldm);
-
-// for(udword i=0;i<nb_planes;i++) mPlanes[i] = planes[i] * InvWorldM;
- for(udword i=0;i<nb_planes;i++) TransformPlane(mPlanes[i], planes[i], InvWorldM);
- }
- else CopyMemory(mPlanes, planes, nb_planes*sizeof(IcePlane));
-
- // 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 planes (and set contact status if needed)
- udword clip_mask = (1<<mNbPlanes)-1;
- PLANES_PRIM(udword(0), OPC_CONTACT)
-
- // Return immediately regardless of status
- return TRUE;
- }
- }
-
- // 4) 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 planes (and set contact status if needed)
- udword clip_mask = (1<<mNbPlanes)-1;
- PLANES_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 mTouchedPrimitives->Reset();
- }
- else
- {
- // Here we don't use temporal coherence => do a normal query
- mTouchedPrimitives->Reset();
- }
-
- return FALSE;
-}
-
-#define TEST_CLIP_MASK \
- /* If the box is completely included, so are its children. We don't need to do extra tests, we */ \
- /* can immediately output a list of visible children. Those ones won't need to be clipped. */ \
- if(!OutClipMask) \
- { \
- /* Set contact status */ \
- mFlags |= OPC_CONTACT; \
- _Dump(node); \
- return; \
- }
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for normal AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void PlanesCollider::_Collide(const AABBCollisionNode* node, udword clip_mask)
-{
- // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
- udword OutClipMask;
- if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
-
- TEST_CLIP_MASK
-
- // Else the box straddles one or several planes, so we need to recurse down the tree.
- if(node->IsLeaf())
- {
- PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _Collide(node->GetPos(), OutClipMask);
-
- if(ContactFound()) return;
-
- _Collide(node->GetNeg(), OutClipMask);
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for normal AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void PlanesCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask)
-{
- // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
- udword OutClipMask;
- if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
-
- TEST_CLIP_MASK
-
- // Else the box straddles one or several planes, so we need to recurse down the tree.
- if(node->IsLeaf())
- {
- SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
-
- if(ContactFound()) return;
-
- _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void PlanesCollider::_Collide(const AABBQuantizedNode* node, udword clip_mask)
-{
- // 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);
-
- // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
- udword OutClipMask;
- if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
-
- TEST_CLIP_MASK
-
- // Else the box straddles one or several planes, so we need to recurse down the tree.
- if(node->IsLeaf())
- {
- PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _Collide(node->GetPos(), OutClipMask);
-
- if(ContactFound()) return;
-
- _Collide(node->GetNeg(), OutClipMask);
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask)
-{
- // 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);
-
- // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
- udword OutClipMask;
- if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
-
- TEST_CLIP_MASK
-
- // Else the box straddles one or several planes, so we need to recurse down the tree.
- if(node->IsLeaf())
- {
- SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
-
- if(ContactFound()) return;
-
- _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void PlanesCollider::_Collide(const AABBNoLeafNode* node, udword clip_mask)
-{
- // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
- udword OutClipMask;
- if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
-
- TEST_CLIP_MASK
-
- // Else the box straddles one or several planes, so we need to recurse down the tree.
- if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos(), OutClipMask);
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetNeg(), OutClipMask);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void PlanesCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask)
-{
- // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
- udword OutClipMask;
- if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
-
- TEST_CLIP_MASK
-
- // Else the box straddles one or several planes, so we need to recurse down the tree.
- if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
- else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
- else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void PlanesCollider::_Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask)
-{
- // 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);
-
- // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
- udword OutClipMask;
- if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
-
- TEST_CLIP_MASK
-
- // Else the box straddles one or several planes, so we need to recurse down the tree.
- if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos(), OutClipMask);
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetNeg(), OutClipMask);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask)
-{
- // 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);
-
- // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
- udword OutClipMask;
- if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
-
- TEST_CLIP_MASK
-
- // Else the box straddles one or several planes, so we need to recurse down the tree.
- if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
- else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
- else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
-}
-
-
-
-
-
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridPlanesCollider::HybridPlanesCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridPlanesCollider::~HybridPlanesCollider()
-{
-}
-
-bool HybridPlanesCollider::Collide(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const HybridModel& model, 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, planes, nb_planes, 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
- udword clip_mask = (1<<mNbPlanes)-1;
- for(udword i=0;i<Nb;i++)
- {
- PLANES_PRIM(i, OPC_CONTACT)
- }
- return true;
- }
-
- // Override destination array since we're only going to get leaf boxes here
- mTouchedBoxes.Reset();
- mTouchedPrimitives = &mTouchedBoxes;
-
- udword PlaneMask = (1<<nb_planes)-1;
-
- // 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(), PlaneMask);
- }
- else
- {
- const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
-
- // Perform collision query - we don't want primitive tests here!
- _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
- }
- }
- 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(), PlaneMask);
- }
- else
- {
- const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
-
- // Perform collision query - we don't want primitive tests here!
- _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
- }
- }
-
- // 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
- udword clip_mask = (1<<mNbPlanes)-1;
- 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++;
- PLANES_PRIM(TriangleIndex, OPC_CONTACT)
- }
- }
- else
- {
- udword BaseIndex = CurrentLeaf.GetTriangleIndex();
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- udword TriangleIndex = BaseIndex++;
- PLANES_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 planes collider. + * \file OPC_PlanesCollider.cpp + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a Planes-vs-tree collider. + * + * \class PlanesCollider + * \author Pierre Terdiman + * \version 1.3 + * \date January, 1st, 2002 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +#include "OPC_PlanesAABBOverlap.h" +#include "OPC_PlanesTriOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + /* Set contact status */ \ + mFlags |= flag; \ + mTouchedPrimitives->Add(prim_index); + +//! Planes-triangle test +#define PLANES_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + mIMesh->GetTriangle(mVP, prim_index); \ + /* Perform triangle-box overlap test */ \ + if(PlanesTriOverlap(clip_mask)) \ + { \ + SET_CONTACT(prim_index, flag) \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +PlanesCollider::PlanesCollider() : + mPlanes (null), + mNbPlanes (0) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +PlanesCollider::~PlanesCollider() +{ + DELETEARRAY(mPlanes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Validates current settings. You should call this method after all the settings and callbacks have been defined. + * \return null if everything is ok, else a string describing the problem + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const char* PlanesCollider::ValidateSettings() +{ + if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; + + return VolumeCollider::ValidateSettings(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a planes cache + * \param planes [in] list of planes in world space + * \param nb_planes [in] number of planes + * \param model [in] Opcode model to collide with + * \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 PlanesCollider::Collide(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(cache, planes, nb_planes, worldm)) return true; + + udword PlaneMask = (1<<nb_planes)-1; + + 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(), PlaneMask); + else _Collide(Tree->GetNodes(), PlaneMask); + } + else + { + const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); + + // Perform collision query + if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + else _Collide(Tree->GetNodes(), PlaneMask); + } + } + 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(), PlaneMask); + else _Collide(Tree->GetNodes(), PlaneMask); + } + else + { + const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); + + // Perform collision query + if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + else _Collide(Tree->GetNodes(), PlaneMask); + } + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Initializes a collision query : + * - reset stats & contact status + * - compute planes in model space + * - check temporal coherence + * + * \param cache [in/out] a planes cache + * \param planes [in] list of planes + * \param nb_planes [in] number of planes + * \param worldm [in] model's world matrix, or null + * \return TRUE if we can return immediately + * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL PlanesCollider::InitQuery(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const Matrix4x4* worldm) +{ + // 1) Call the base method + VolumeCollider::InitQuery(); + + // 2) Compute planes in model space + if(nb_planes>mNbPlanes) + { + DELETEARRAY(mPlanes); + mPlanes = new IcePlane[nb_planes]; + } + mNbPlanes = nb_planes; + + if(worldm) + { + Matrix4x4 InvWorldM; + InvertPRMatrix(InvWorldM, *worldm); + +// for(udword i=0;i<nb_planes;i++) mPlanes[i] = planes[i] * InvWorldM; + for(udword i=0;i<nb_planes;i++) TransformPlane(mPlanes[i], planes[i], InvWorldM); + } + else CopyMemory(mPlanes, planes, nb_planes*sizeof(IcePlane)); + + // 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 planes (and set contact status if needed) + udword clip_mask = (1<<mNbPlanes)-1; + PLANES_PRIM(udword(0), OPC_CONTACT) + + // Return immediately regardless of status + return TRUE; + } + } + + // 4) 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 planes (and set contact status if needed) + udword clip_mask = (1<<mNbPlanes)-1; + PLANES_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 mTouchedPrimitives->Reset(); + } + else + { + // Here we don't use temporal coherence => do a normal query + mTouchedPrimitives->Reset(); + } + + return FALSE; +} + +#define TEST_CLIP_MASK \ + /* If the box is completely included, so are its children. We don't need to do extra tests, we */ \ + /* can immediately output a list of visible children. Those ones won't need to be clipped. */ \ + if(!OutClipMask) \ + { \ + /* Set contact status */ \ + mFlags |= OPC_CONTACT; \ + _Dump(node); \ + return; \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_Collide(const AABBCollisionNode* node, udword clip_mask) +{ + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->IsLeaf()) + { + PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _Collide(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + _Collide(node->GetNeg(), OutClipMask); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask) +{ + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->IsLeaf()) + { + SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_Collide(const AABBQuantizedNode* node, udword clip_mask) +{ + // 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); + + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->IsLeaf()) + { + PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _Collide(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + _Collide(node->GetNeg(), OutClipMask); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask) +{ + // 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); + + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->IsLeaf()) + { + SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_Collide(const AABBNoLeafNode* node, udword clip_mask) +{ + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } + else _Collide(node->GetNeg(), OutClipMask); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask) +{ + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } + else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } + else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask) +{ + // 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); + + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } + else _Collide(node->GetNeg(), OutClipMask); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask) +{ + // 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); + + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } + else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } + else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); +} + + + + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridPlanesCollider::HybridPlanesCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridPlanesCollider::~HybridPlanesCollider() +{ +} + +bool HybridPlanesCollider::Collide(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const HybridModel& model, 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, planes, nb_planes, 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 + udword clip_mask = (1<<mNbPlanes)-1; + for(udword i=0;i<Nb;i++) + { + PLANES_PRIM(i, OPC_CONTACT) + } + return true; + } + + // Override destination array since we're only going to get leaf boxes here + mTouchedBoxes.Reset(); + mTouchedPrimitives = &mTouchedBoxes; + + udword PlaneMask = (1<<nb_planes)-1; + + // 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(), PlaneMask); + } + else + { + const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); + + // Perform collision query - we don't want primitive tests here! + _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + } + } + 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(), PlaneMask); + } + else + { + const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); + + // Perform collision query - we don't want primitive tests here! + _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + } + } + + // 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 + udword clip_mask = (1<<mNbPlanes)-1; + 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++; + PLANES_PRIM(TriangleIndex, OPC_CONTACT) + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + udword TriangleIndex = BaseIndex++; + PLANES_PRIM(TriangleIndex, OPC_CONTACT) + } + } + } + } + + return true; +} diff --git a/Opcode/OPC_PlanesCollider.h b/Opcode/OPC_PlanesCollider.h index 5a0af9f..fd31e1a 100644 --- a/Opcode/OPC_PlanesCollider.h +++ b/Opcode/OPC_PlanesCollider.h @@ -1,121 +1,121 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for a planes collider.
- * \file OPC_PlanesCollider.h
- * \author Pierre Terdiman
- * \date January, 1st, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_PLANESCOLLIDER_H__
-#define __OPC_PLANESCOLLIDER_H__
-
- struct OPCODE_API PlanesCache : VolumeCache
- {
- PlanesCache()
- {
- }
- };
-
- class OPCODE_API PlanesCollider : public VolumeCollider
- {
- public:
- // Constructor / Destructor
- PlanesCollider();
- virtual ~PlanesCollider();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Generic collision query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - with GetNbTouchedPrimitives()
- * - with GetTouchedPrimitives()
- *
- * \param cache [in/out] a planes cache
- * \param planes [in] list of planes in world space
- * \param nb_planes [in] number of planes
- * \param model [in] Opcode model to collide with
- * \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 Collide(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm=null);
-
- // Mutant box-with-planes collision queries
- inline_ bool Collide(PlanesCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null)
- {
- IcePlane PL[6];
-
- if(worldb)
- {
- // Create a new OBB in world space
- OBB WorldBox;
- box.Rotate(*worldb, WorldBox);
- // Compute planes from the sides of the box
- WorldBox.ComputePlanes(PL);
- }
- else
- {
- // Compute planes from the sides of the box
- box.ComputePlanes(PL);
- }
-
- // Collide with box planes
- return Collide(cache, PL, 6, model, worldm);
- }
- // Settings
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
- * \return null if everything is ok, else a string describing the problem
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(Collider) const char* ValidateSettings();
-
- protected:
- // Planes in model space
- udword mNbPlanes;
- IcePlane* mPlanes;
- // Leaf description
- VertexPointers mVP;
- // Internal methods
- void _Collide(const AABBCollisionNode* node, udword clip_mask);
- void _Collide(const AABBNoLeafNode* node, udword clip_mask);
- void _Collide(const AABBQuantizedNode* node, udword clip_mask);
- void _Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask);
- void _CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask);
- void _CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask);
- void _CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask);
- void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask);
- // Overlap tests
- inline_ BOOL PlanesAABBOverlap(const IcePoint& center, const IcePoint& extents, udword& out_clip_mask, udword in_clip_mask);
- inline_ BOOL PlanesTriOverlap(udword in_clip_mask);
- // Init methods
- BOOL InitQuery(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const Matrix4x4* worldm=null);
- };
-
- class OPCODE_API HybridPlanesCollider : public PlanesCollider
- {
- public:
- // Constructor / Destructor
- HybridPlanesCollider();
- virtual ~HybridPlanesCollider();
-
- bool Collide(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm=null);
- protected:
- Container mTouchedBoxes;
- };
-
-#endif // __OPC_PLANESCOLLIDER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a planes collider. + * \file OPC_PlanesCollider.h + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_PLANESCOLLIDER_H__ +#define __OPC_PLANESCOLLIDER_H__ + + struct OPCODE_API PlanesCache : VolumeCache + { + PlanesCache() + { + } + }; + + class OPCODE_API PlanesCollider : public VolumeCollider + { + public: + // Constructor / Destructor + PlanesCollider(); + virtual ~PlanesCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a planes cache + * \param planes [in] list of planes in world space + * \param nb_planes [in] number of planes + * \param model [in] Opcode model to collide with + * \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 Collide(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm=null); + + // Mutant box-with-planes collision queries + inline_ bool Collide(PlanesCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null) + { + IcePlane PL[6]; + + if(worldb) + { + // Create a new OBB in world space + OBB WorldBox; + box.Rotate(*worldb, WorldBox); + // Compute planes from the sides of the box + WorldBox.ComputePlanes(PL); + } + else + { + // Compute planes from the sides of the box + box.ComputePlanes(PL); + } + + // Collide with box planes + return Collide(cache, PL, 6, model, worldm); + } + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Planes in model space + udword mNbPlanes; + IcePlane* mPlanes; + // Leaf description + VertexPointers mVP; + // Internal methods + void _Collide(const AABBCollisionNode* node, udword clip_mask); + void _Collide(const AABBNoLeafNode* node, udword clip_mask); + void _Collide(const AABBQuantizedNode* node, udword clip_mask); + void _Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask); + // Overlap tests + inline_ BOOL PlanesAABBOverlap(const IcePoint& center, const IcePoint& extents, udword& out_clip_mask, udword in_clip_mask); + inline_ BOOL PlanesTriOverlap(udword in_clip_mask); + // Init methods + BOOL InitQuery(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridPlanesCollider : public PlanesCollider + { + public: + // Constructor / Destructor + HybridPlanesCollider(); + virtual ~HybridPlanesCollider(); + + bool Collide(PlanesCache& cache, const IcePlane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_PLANESCOLLIDER_H__ diff --git a/Opcode/OPC_PlanesTriOverlap.h b/Opcode/OPC_PlanesTriOverlap.h index cdd6ff8..17d065d 100644 --- a/Opcode/OPC_PlanesTriOverlap.h +++ b/Opcode/OPC_PlanesTriOverlap.h @@ -1,40 +1,40 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Planes-triangle overlap test.
- * \param in_clip_mask [in] bitmask for active planes
- * \return TRUE if triangle overlap planes
- * \warning THIS IS A CONSERVATIVE TEST !! Some triangles will be returned as intersecting, while they're not!
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL PlanesCollider::PlanesTriOverlap(udword in_clip_mask)
-{
- // Stats
- mNbVolumePrimTests++;
-
- const IcePlane* p = mPlanes;
- udword Mask = 1;
-
- while(Mask<=in_clip_mask)
- {
- if(in_clip_mask & Mask)
- {
- float d0 = p->Distance(*mVP.Vertex[0]);
- float d1 = p->Distance(*mVP.Vertex[1]);
- float d2 = p->Distance(*mVP.Vertex[2]);
- if(d0>0.0f && d1>0.0f && d2>0.0f) return FALSE;
-// if(!(IR(d0)&SIGN_BITMASK) && !(IR(d1)&SIGN_BITMASK) && !(IR(d2)&SIGN_BITMASK)) return FALSE;
- }
- Mask+=Mask;
- p++;
- }
-/*
- for(udword i=0;i<6;i++)
- {
- float d0 = p[i].Distance(mLeafVerts[0]);
- float d1 = p[i].Distance(mLeafVerts[1]);
- float d2 = p[i].Distance(mLeafVerts[2]);
- if(d0>0.0f && d1>0.0f && d2>0.0f) return false;
- }
-*/
- return TRUE;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Planes-triangle overlap test. + * \param in_clip_mask [in] bitmask for active planes + * \return TRUE if triangle overlap planes + * \warning THIS IS A CONSERVATIVE TEST !! Some triangles will be returned as intersecting, while they're not! + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL PlanesCollider::PlanesTriOverlap(udword in_clip_mask) +{ + // Stats + mNbVolumePrimTests++; + + const IcePlane* p = mPlanes; + udword Mask = 1; + + while(Mask<=in_clip_mask) + { + if(in_clip_mask & Mask) + { + float d0 = p->Distance(*mVP.Vertex[0]); + float d1 = p->Distance(*mVP.Vertex[1]); + float d2 = p->Distance(*mVP.Vertex[2]); + if(d0>0.0f && d1>0.0f && d2>0.0f) return FALSE; +// if(!(IR(d0)&SIGN_BITMASK) && !(IR(d1)&SIGN_BITMASK) && !(IR(d2)&SIGN_BITMASK)) return FALSE; + } + Mask+=Mask; + p++; + } +/* + for(udword i=0;i<6;i++) + { + float d0 = p[i].Distance(mLeafVerts[0]); + float d1 = p[i].Distance(mLeafVerts[1]); + float d2 = p[i].Distance(mLeafVerts[2]); + if(d0>0.0f && d1>0.0f && d2>0.0f) return false; + } +*/ + return TRUE; +} diff --git a/Opcode/OPC_RayAABBOverlap.h b/Opcode/OPC_RayAABBOverlap.h index f9f6834..cd2bdfb 100644 --- a/Opcode/OPC_RayAABBOverlap.h +++ b/Opcode/OPC_RayAABBOverlap.h @@ -1,63 +1,63 @@ -// Opcode 1.1: ray-AABB overlap tests based on Woo's code
-// Opcode 1.2: ray-AABB overlap tests based on the separating axis theorem
-//
-// The IcePoint of intersection is not computed anymore. The distance to impact is not needed anymore
-// since we now have two different queries for segments or rays.
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes a segment-AABB overlap test using the separating axis theorem. IceSegment is cached within the class.
- * \param center [in] AABB center
- * \param extents [in] AABB extents
- * \return true on overlap
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL RayCollider::SegmentAABBOverlap(const IcePoint& center, const IcePoint& extents)
-{
- // Stats
- mNbRayBVTests++;
-
- float Dx = mData2.x - center.x; if(fabsf(Dx) > extents.x + mFDir.x) return FALSE;
- float Dy = mData2.y - center.y; if(fabsf(Dy) > extents.y + mFDir.y) return FALSE;
- float Dz = mData2.z - center.z; if(fabsf(Dz) > extents.z + mFDir.z) return FALSE;
-
- float f;
- f = mData.y * Dz - mData.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE;
- f = mData.z * Dx - mData.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE;
- f = mData.x * Dy - mData.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE;
-
- return TRUE;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class.
- * \param center [in] AABB center
- * \param extents [in] AABB extents
- * \return true on overlap
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL RayCollider::RayAABBOverlap(const IcePoint& center, const IcePoint& extents)
-{
- // Stats
- mNbRayBVTests++;
-
-// float Dx = mOrigin.x - center.x; if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f) return FALSE;
-// float Dy = mOrigin.y - center.y; if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f) return FALSE;
-// float Dz = mOrigin.z - center.z; if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f) return FALSE;
-
- float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f) return FALSE;
- float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f) return FALSE;
- float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f) return FALSE;
-
-// float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f) return FALSE;
-// float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f) return FALSE;
-// float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f) return FALSE;
-
- float f;
- f = mDir.y * Dz - mDir.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE;
- f = mDir.z * Dx - mDir.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE;
- f = mDir.x * Dy - mDir.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE;
-
- return TRUE;
-}
+// Opcode 1.1: ray-AABB overlap tests based on Woo's code +// Opcode 1.2: ray-AABB overlap tests based on the separating axis theorem +// +// The IcePoint of intersection is not computed anymore. The distance to impact is not needed anymore +// since we now have two different queries for segments or rays. + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a segment-AABB overlap test using the separating axis theorem. IceSegment is cached within the class. + * \param center [in] AABB center + * \param extents [in] AABB extents + * \return true on overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL RayCollider::SegmentAABBOverlap(const IcePoint& center, const IcePoint& extents) +{ + // Stats + mNbRayBVTests++; + + float Dx = mData2.x - center.x; if(fabsf(Dx) > extents.x + mFDir.x) return FALSE; + float Dy = mData2.y - center.y; if(fabsf(Dy) > extents.y + mFDir.y) return FALSE; + float Dz = mData2.z - center.z; if(fabsf(Dz) > extents.z + mFDir.z) return FALSE; + + float f; + f = mData.y * Dz - mData.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; + f = mData.z * Dx - mData.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; + f = mData.x * Dy - mData.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; + + return TRUE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class. + * \param center [in] AABB center + * \param extents [in] AABB extents + * \return true on overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL RayCollider::RayAABBOverlap(const IcePoint& center, const IcePoint& extents) +{ + // Stats + mNbRayBVTests++; + +// float Dx = mOrigin.x - center.x; if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f) return FALSE; +// float Dy = mOrigin.y - center.y; if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f) return FALSE; +// float Dz = mOrigin.z - center.z; if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f) return FALSE; + + float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f) return FALSE; + float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f) return FALSE; + float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f) return FALSE; + +// float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f) return FALSE; +// float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f) return FALSE; +// float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f) return FALSE; + + float f; + f = mDir.y * Dz - mDir.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; + f = mDir.z * Dx - mDir.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; + f = mDir.x * Dy - mDir.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; + + return TRUE; +} diff --git a/Opcode/OPC_RayCollider.cpp b/Opcode/OPC_RayCollider.cpp index 53a39d1..d1c90a5 100644 --- a/Opcode/OPC_RayCollider.cpp +++ b/Opcode/OPC_RayCollider.cpp @@ -1,762 +1,762 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for a ray collider.
- * \file OPC_RayCollider.cpp
- * \author Pierre Terdiman
- * \date June, 2, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains a ray-vs-tree collider.
- * This class performs a stabbing query on an AABB tree, i.e. does a ray-mesh collision.
- *
- * HIGHER DISTANCE BOUND:
- *
- * If P0 and P1 are two 3D points, let's define:
- * - d = distance between P0 and P1
- * - Origin = P0
- * - Direction = (P1 - P0) / d = normalized direction vector
- * - A parameter t such as a IcePoint P on the line (P0,P1) is P = Origin + t * Direction
- * - t = 0 --> P = P0
- * - t = d --> P = P1
- *
- * Then we can define a general "ray" as:
- *
- * struct Ray
- * {
- * IcePoint Origin;
- * IcePoint Direction;
- * };
- *
- * But it actually maps three different things:
- * - a segment, when 0 <= t <= d
- * - a half-line, when 0 <= t < +infinity, or -infinity < t <= d
- * - a line, when -infinity < t < +infinity
- *
- * In Opcode, we support segment queries, which yield half-line queries by setting d = +infinity.
- * We don't support line-queries. If you need them, shift the origin along the ray by an appropriate margin.
- *
- * In short, the lower bound is always 0, and you can setup the higher bound "d" with RayCollider::SetMaxDist().
- *
- * Query |segment |half-line |line
- * --------|-------------------|---------------|----------------
- * Usages |-shadow feelers |-raytracing |-
- * |-sweep tests |-in/out tests |
- *
- * FIRST CONTACT:
- *
- * - You can setup "first contact" mode or "all contacts" mode with RayCollider::SetFirstContact().
- * - In "first contact" mode we return as soon as the ray hits one face. If can be useful e.g. for shadow feelers, where
- * you want to know whether the path to the light is free or not (a boolean answer is enough).
- * - In "all contacts" mode we return all faces hit by the ray.
- *
- * TEMPORAL COHERENCE:
- *
- * - You can enable or disable temporal coherence with RayCollider::SetTemporalCoherence().
- * - It currently only works in "first contact" mode.
- * - If temporal coherence is enabled, the previously hit triangle is cached during the first query. Then, next queries
- * start by colliding the ray against the cached triangle. If they still collide, we return immediately.
- *
- * CLOSEST HIT:
- *
- * - You can enable or disable "closest hit" with RayCollider::SetClosestHit().
- * - It currently only works in "all contacts" mode.
- * - If closest hit is enabled, faces are sorted by distance on-the-fly and the closest one only is reported.
- *
- * BACKFACE CULLING:
- *
- * - You can enable or disable backface culling with RayCollider::SetCulling().
- * - If culling is enabled, ray will not hit back faces (only front faces).
- *
- *
- *
- * \class RayCollider
- * \author Pierre Terdiman
- * \version 1.3
- * \date June, 2, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * This class describes a face hit by a ray or segment.
- * This is a particular class dedicated to stabbing queries.
- *
- * \class CollisionFace
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * This class is a dedicated collection of CollisionFace.
- *
- * \class CollisionFaces
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-#include "OPC_RayAABBOverlap.h"
-#include "OPC_RayTriOverlap.h"
-
-#define SET_CONTACT(prim_index, flag) \
- mNbIntersections++; \
- /* Set contact status */ \
- mFlags |= flag; \
- /* In any case the contact has been found and recorded in mStabbedFace */ \
- mStabbedFace.mFaceID = prim_index;
-
-#ifdef OPC_RAYHIT_CALLBACK
-
- #define HANDLE_CONTACT(prim_index, flag) \
- SET_CONTACT(prim_index, flag) \
- \
- if(mHitCallback) (mHitCallback)(mStabbedFace, mUserData);
-
- #define UPDATE_CACHE \
- if(cache && GetContactStatus()) \
- { \
- *cache = mStabbedFace.mFaceID; \
- }
-#else
-
- #define HANDLE_CONTACT(prim_index, flag) \
- SET_CONTACT(prim_index, flag) \
- \
- /* Now we can also record it in mStabbedFaces if available */ \
- if(mStabbedFaces) \
- { \
- /* If we want all faces or if that's the first one we hit */ \
- if(!mClosestHit || !mStabbedFaces->GetNbFaces()) \
- { \
- mStabbedFaces->AddFace(mStabbedFace); \
- } \
- else \
- { \
- /* We only keep closest hit */ \
- CollisionFace* Current = const_cast<CollisionFace*>(mStabbedFaces->GetFaces()); \
- if(Current && mStabbedFace.mDistance<Current->mDistance) \
- { \
- *Current = mStabbedFace; \
- } \
- } \
- }
-
- #define UPDATE_CACHE \
- if(cache && GetContactStatus() && mStabbedFaces) \
- { \
- const CollisionFace* Current = mStabbedFaces->GetFaces(); \
- if(Current) *cache = Current->mFaceID; \
- else *cache = INVALID_ID; \
- }
-#endif
-
-#define SEGMENT_PRIM(prim_index, flag) \
- /* Request vertices from the app */ \
- VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \
- \
- /* Perform ray-tri overlap test and return */ \
- if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \
- { \
- /* Intersection IcePoint is valid if dist < segment's length */ \
- /* We know dist>0 so we can use integers */ \
- if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) \
- { \
- HANDLE_CONTACT(prim_index, flag) \
- } \
- }
-
-#define RAY_PRIM(prim_index, flag) \
- /* Request vertices from the app */ \
- VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \
- \
- /* Perform ray-tri overlap test and return */ \
- if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \
- { \
- HANDLE_CONTACT(prim_index, flag) \
- }
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-RayCollider::RayCollider() :
- mNbRayBVTests (0),
- mNbRayPrimTests (0),
- mNbIntersections (0),
- mCulling (true),
-#ifdef OPC_RAYHIT_CALLBACK
- mHitCallback (null),
- mUserData (0),
-#else
- mClosestHit (false),
- mStabbedFaces (null),
-#endif
- mMaxDist (MAX_FLOAT)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-RayCollider::~RayCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Validates current settings. You should call this method after all the settings and callbacks have been defined.
- * \return null if everything is ok, else a string describing the problem
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const char* RayCollider::ValidateSettings()
-{
- if(mMaxDist<0.0f) return "Higher distance bound must be positive!";
- if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!";
-#ifndef OPC_RAYHIT_CALLBACK
- if(mClosestHit && FirstContactEnabled()) return "Closest hit doesn't work with ""First contact"" mode!";
- if(TemporalCoherenceEnabled() && mClosestHit) return "Temporal coherence can't guarantee to report closest hit!";
-#endif
- if(SkipPrimitiveTests()) return "SkipPrimitiveTests not possible for RayCollider ! (not implemented)";
- return null;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Generic stabbing query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - in the user-provided destination array
- *
- * \param world_ray [in] stabbing ray in world space
- * \param model [in] Opcode model to collide with
- * \param world [in] model's world matrix, or null
- * \param cache [in] a possibly cached face index, or null
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool RayCollider::Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world, udword* cache)
-{
- // Checkings
- if(!Setup(&model)) return false;
-
- // Init collision query
- if(InitQuery(world_ray, world, cache)) 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 stabbing query
- if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes());
- else _RayStab(Tree->GetNodes());
- }
- else
- {
- const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
-
- // Perform stabbing query
- if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes());
- else _RayStab(Tree->GetNodes());
- }
- }
- else
- {
- if(model.IsQuantized())
- {
- const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
-
- // Setup dequantization coeffs
- mCenterCoeff = Tree->mCenterCoeff;
- mExtentsCoeff = Tree->mExtentsCoeff;
-
- // Perform stabbing query
- if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes());
- else _RayStab(Tree->GetNodes());
- }
- else
- {
- const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
-
- // Perform stabbing query
- if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes());
- else _RayStab(Tree->GetNodes());
- }
- }
-
- // Update cache if needed
- UPDATE_CACHE
- return true;
-}
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Initializes a stabbing query :
- * - reset stats & contact status
- * - compute ray in local space
- * - check temporal coherence
- *
- * \param world_ray [in] stabbing ray in world space
- * \param world [in] object's world matrix, or null
- * \param face_id [in] index of previously stabbed triangle
- * \return TRUE if we can return immediately
- * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-BOOL RayCollider::InitQuery(const Ray& world_ray, const Matrix4x4* world, udword* face_id)
-{
- // Reset stats & contact status
- Collider::InitQuery();
- mNbRayBVTests = 0;
- mNbRayPrimTests = 0;
- mNbIntersections = 0;
-#ifndef OPC_RAYHIT_CALLBACK
- if(mStabbedFaces) mStabbedFaces->Reset();
-#endif
-
- // Compute ray in local space
- // The (Origin/Dir) form is needed for the ray-triangle test anyway (even for segment tests)
- if(world)
- {
- Matrix3x3 InvWorld = *world;
- mDir = InvWorld * world_ray.mDir;
-
- Matrix4x4 World;
- InvertPRMatrix(World, *world);
- mOrigin = world_ray.mOrig * World;
- }
- else
- {
- mDir = world_ray.mDir;
- mOrigin = world_ray.mOrig;
- }
-
- // 4) Special case: 1-triangle meshes [Opcode 1.3]
- if(mCurrentModel && mCurrentModel->HasSingleNode())
- {
- // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0.
- if(!SkipPrimitiveTests())
- {
- // Perform overlap test between the unique triangle and the ray (and set contact status if needed)
- SEGMENT_PRIM(udword(0), OPC_CONTACT)
-
- // Return immediately regardless of status
- return TRUE;
- }
- }
-
- // Check temporal coherence :
-
- // Test previously colliding primitives first
- if(TemporalCoherenceEnabled() && FirstContactEnabled() && face_id && *face_id!=INVALID_ID)
- {
-#ifdef OLD_CODE
-#ifndef OPC_RAYHIT_CALLBACK
- if(!mClosestHit)
-#endif
- {
- // Request vertices from the app
- VertexPointers VP;
- mIMesh->GetTriangle(VP, *face_id);
- // Perform ray-cached tri overlap test
- if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2]))
- {
- // Intersection IcePoint is valid if:
- // - distance is positive (else it can just be a face behind the orig IcePoint)
- // - distance is smaller than a given max distance (useful for shadow feelers)
-// if(mStabbedFace.mDistance>0.0f && mStabbedFace.mDistance<mMaxDist)
- if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) // The other test is already performed in RayTriOverlap
- {
- // Set contact status
- mFlags |= OPC_TEMPORAL_CONTACT;
-
- mStabbedFace.mFaceID = *face_id;
-
-#ifndef OPC_RAYHIT_CALLBACK
- if(mStabbedFaces) mStabbedFaces->AddFace(mStabbedFace);
-#endif
- return TRUE;
- }
- }
- }
-#else
- // New code
- // We handle both IceSegment/ray queries with the same segment code, and a possible infinite limit
- SEGMENT_PRIM(*face_id, OPC_TEMPORAL_CONTACT)
-
- // Return immediately if possible
- if(GetContactStatus()) return TRUE;
-#endif
- }
-
- // Precompute data (moved after temporal coherence since only needed for ray-AABB)
- if(IR(mMaxDist)!=IEEE_MAX_FLOAT)
- {
- // For IceSegment-AABB overlap
- mData = 0.5f * mDir * mMaxDist;
- mData2 = mOrigin + mData;
-
- // Precompute mFDir;
- mFDir.x = fabsf(mData.x);
- mFDir.y = fabsf(mData.y);
- mFDir.z = fabsf(mData.z);
- }
- else
- {
- // For Ray-AABB overlap
-// udword x = SIR(mDir.x)-1;
-// udword y = SIR(mDir.y)-1;
-// udword z = SIR(mDir.z)-1;
-// mData.x = FR(x);
-// mData.y = FR(y);
-// mData.z = FR(z);
-
- // Precompute mFDir;
- mFDir.x = fabsf(mDir.x);
- mFDir.y = fabsf(mDir.y);
- mFDir.z = fabsf(mDir.z);
- }
-
- return FALSE;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Stabbing query for vanilla AABB trees.
- * \param world_ray [in] stabbing ray in world space
- * \param tree [in] AABB tree
- * \param box_indices [out] indices of stabbed boxes
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool RayCollider::Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices)
-{
- // ### bad design here
-
- // 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
- // Basically this is only called to initialize precomputed data
- if(InitQuery(world_ray)) return true;
-
- // Perform stabbing query
- if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(tree, box_indices);
- else _RayStab(tree, box_indices);
-
- return true;
-}
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for normal AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_SegmentStab(const AABBCollisionNode* node)
-{
- // Perform IceSegment-AABB overlap test
- if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
-
- if(node->IsLeaf())
- {
- SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _SegmentStab(node->GetPos());
-
- if(ContactFound()) return;
-
- _SegmentStab(node->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for quantized AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_SegmentStab(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 IceSegment-AABB overlap test
- if(!SegmentAABBOverlap(Center, Extents)) return;
-
- if(node->IsLeaf())
- {
- SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _SegmentStab(node->GetPos());
-
- if(ContactFound()) return;
-
- _SegmentStab(node->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_SegmentStab(const AABBNoLeafNode* node)
-{
- // Perform IceSegment-AABB overlap test
- if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
-
- if(node->HasPosLeaf())
- {
- SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT)
- }
- else _SegmentStab(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf())
- {
- SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT)
- }
- else _SegmentStab(node->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for quantized no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_SegmentStab(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 IceSegment-AABB overlap test
- if(!SegmentAABBOverlap(Center, Extents)) return;
-
- if(node->HasPosLeaf())
- {
- SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT)
- }
- else _SegmentStab(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf())
- {
- SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT)
- }
- else _SegmentStab(node->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for vanilla AABB trees.
- * \param node [in] current collision node
- * \param box_indices [out] indices of stabbed boxes
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_SegmentStab(const AABBTreeNode* node, Container& box_indices)
-{
- // Test the box against the segment
- IcePoint Center, Extents;
- node->GetAABB()->GetCenter(Center);
- node->GetAABB()->GetExtents(Extents);
- if(!SegmentAABBOverlap(Center, Extents)) return;
-
- if(node->IsLeaf())
- {
- box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives());
- }
- else
- {
- _SegmentStab(node->GetPos(), box_indices);
- _SegmentStab(node->GetNeg(), box_indices);
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for normal AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_RayStab(const AABBCollisionNode* node)
-{
- // Perform Ray-AABB overlap test
- if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
-
- if(node->IsLeaf())
- {
- RAY_PRIM(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _RayStab(node->GetPos());
-
- if(ContactFound()) return;
-
- _RayStab(node->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for quantized AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_RayStab(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 Ray-AABB overlap test
- if(!RayAABBOverlap(Center, Extents)) return;
-
- if(node->IsLeaf())
- {
- RAY_PRIM(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _RayStab(node->GetPos());
-
- if(ContactFound()) return;
-
- _RayStab(node->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_RayStab(const AABBNoLeafNode* node)
-{
- // Perform Ray-AABB overlap test
- if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
-
- if(node->HasPosLeaf())
- {
- RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT)
- }
- else _RayStab(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf())
- {
- RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT)
- }
- else _RayStab(node->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for quantized no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_RayStab(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 Ray-AABB overlap test
- if(!RayAABBOverlap(Center, Extents)) return;
-
- if(node->HasPosLeaf())
- {
- RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT)
- }
- else _RayStab(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf())
- {
- RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT)
- }
- else _RayStab(node->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive stabbing query for vanilla AABB trees.
- * \param node [in] current collision node
- * \param box_indices [out] indices of stabbed boxes
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void RayCollider::_RayStab(const AABBTreeNode* node, Container& box_indices)
-{
- // Test the box against the ray
- IcePoint Center, Extents;
- node->GetAABB()->GetCenter(Center);
- node->GetAABB()->GetExtents(Extents);
- if(!RayAABBOverlap(Center, Extents)) return;
-
- if(node->IsLeaf())
- {
- mFlags |= OPC_CONTACT;
- box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives());
- }
- else
- {
- _RayStab(node->GetPos(), box_indices);
- _RayStab(node->GetNeg(), box_indices);
- }
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a ray collider. + * \file OPC_RayCollider.cpp + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a ray-vs-tree collider. + * This class performs a stabbing query on an AABB tree, i.e. does a ray-mesh collision. + * + * HIGHER DISTANCE BOUND: + * + * If P0 and P1 are two 3D points, let's define: + * - d = distance between P0 and P1 + * - Origin = P0 + * - Direction = (P1 - P0) / d = normalized direction vector + * - A parameter t such as a IcePoint P on the line (P0,P1) is P = Origin + t * Direction + * - t = 0 --> P = P0 + * - t = d --> P = P1 + * + * Then we can define a general "ray" as: + * + * struct Ray + * { + * IcePoint Origin; + * IcePoint Direction; + * }; + * + * But it actually maps three different things: + * - a segment, when 0 <= t <= d + * - a half-line, when 0 <= t < +infinity, or -infinity < t <= d + * - a line, when -infinity < t < +infinity + * + * In Opcode, we support segment queries, which yield half-line queries by setting d = +infinity. + * We don't support line-queries. If you need them, shift the origin along the ray by an appropriate margin. + * + * In short, the lower bound is always 0, and you can setup the higher bound "d" with RayCollider::SetMaxDist(). + * + * Query |segment |half-line |line + * --------|-------------------|---------------|---------------- + * Usages |-shadow feelers |-raytracing |- + * |-sweep tests |-in/out tests | + * + * FIRST CONTACT: + * + * - You can setup "first contact" mode or "all contacts" mode with RayCollider::SetFirstContact(). + * - In "first contact" mode we return as soon as the ray hits one face. If can be useful e.g. for shadow feelers, where + * you want to know whether the path to the light is free or not (a boolean answer is enough). + * - In "all contacts" mode we return all faces hit by the ray. + * + * TEMPORAL COHERENCE: + * + * - You can enable or disable temporal coherence with RayCollider::SetTemporalCoherence(). + * - It currently only works in "first contact" mode. + * - If temporal coherence is enabled, the previously hit triangle is cached during the first query. Then, next queries + * start by colliding the ray against the cached triangle. If they still collide, we return immediately. + * + * CLOSEST HIT: + * + * - You can enable or disable "closest hit" with RayCollider::SetClosestHit(). + * - It currently only works in "all contacts" mode. + * - If closest hit is enabled, faces are sorted by distance on-the-fly and the closest one only is reported. + * + * BACKFACE CULLING: + * + * - You can enable or disable backface culling with RayCollider::SetCulling(). + * - If culling is enabled, ray will not hit back faces (only front faces). + * + * + * + * \class RayCollider + * \author Pierre Terdiman + * \version 1.3 + * \date June, 2, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This class describes a face hit by a ray or segment. + * This is a particular class dedicated to stabbing queries. + * + * \class CollisionFace + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This class is a dedicated collection of CollisionFace. + * + * \class CollisionFaces + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +#include "OPC_RayAABBOverlap.h" +#include "OPC_RayTriOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + mNbIntersections++; \ + /* Set contact status */ \ + mFlags |= flag; \ + /* In any case the contact has been found and recorded in mStabbedFace */ \ + mStabbedFace.mFaceID = prim_index; + +#ifdef OPC_RAYHIT_CALLBACK + + #define HANDLE_CONTACT(prim_index, flag) \ + SET_CONTACT(prim_index, flag) \ + \ + if(mHitCallback) (mHitCallback)(mStabbedFace, mUserData); + + #define UPDATE_CACHE \ + if(cache && GetContactStatus()) \ + { \ + *cache = mStabbedFace.mFaceID; \ + } +#else + + #define HANDLE_CONTACT(prim_index, flag) \ + SET_CONTACT(prim_index, flag) \ + \ + /* Now we can also record it in mStabbedFaces if available */ \ + if(mStabbedFaces) \ + { \ + /* If we want all faces or if that's the first one we hit */ \ + if(!mClosestHit || !mStabbedFaces->GetNbFaces()) \ + { \ + mStabbedFaces->AddFace(mStabbedFace); \ + } \ + else \ + { \ + /* We only keep closest hit */ \ + CollisionFace* Current = const_cast<CollisionFace*>(mStabbedFaces->GetFaces()); \ + if(Current && mStabbedFace.mDistance<Current->mDistance) \ + { \ + *Current = mStabbedFace; \ + } \ + } \ + } + + #define UPDATE_CACHE \ + if(cache && GetContactStatus() && mStabbedFaces) \ + { \ + const CollisionFace* Current = mStabbedFaces->GetFaces(); \ + if(Current) *cache = Current->mFaceID; \ + else *cache = INVALID_ID; \ + } +#endif + +#define SEGMENT_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \ + \ + /* Perform ray-tri overlap test and return */ \ + if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ + { \ + /* Intersection IcePoint is valid if dist < segment's length */ \ + /* We know dist>0 so we can use integers */ \ + if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) \ + { \ + HANDLE_CONTACT(prim_index, flag) \ + } \ + } + +#define RAY_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \ + \ + /* Perform ray-tri overlap test and return */ \ + if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ + { \ + HANDLE_CONTACT(prim_index, flag) \ + } + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RayCollider::RayCollider() : + mNbRayBVTests (0), + mNbRayPrimTests (0), + mNbIntersections (0), + mCulling (true), +#ifdef OPC_RAYHIT_CALLBACK + mHitCallback (null), + mUserData (0), +#else + mClosestHit (false), + mStabbedFaces (null), +#endif + mMaxDist (MAX_FLOAT) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RayCollider::~RayCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Validates current settings. You should call this method after all the settings and callbacks have been defined. + * \return null if everything is ok, else a string describing the problem + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const char* RayCollider::ValidateSettings() +{ + if(mMaxDist<0.0f) return "Higher distance bound must be positive!"; + if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; +#ifndef OPC_RAYHIT_CALLBACK + if(mClosestHit && FirstContactEnabled()) return "Closest hit doesn't work with ""First contact"" mode!"; + if(TemporalCoherenceEnabled() && mClosestHit) return "Temporal coherence can't guarantee to report closest hit!"; +#endif + if(SkipPrimitiveTests()) return "SkipPrimitiveTests not possible for RayCollider ! (not implemented)"; + return null; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic stabbing query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - in the user-provided destination array + * + * \param world_ray [in] stabbing ray in world space + * \param model [in] Opcode model to collide with + * \param world [in] model's world matrix, or null + * \param cache [in] a possibly cached face index, or null + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool RayCollider::Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world, udword* cache) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(world_ray, world, cache)) 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 stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + else + { + const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + } + else + { + if(model.IsQuantized()) + { + const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); + + // Setup dequantization coeffs + mCenterCoeff = Tree->mCenterCoeff; + mExtentsCoeff = Tree->mExtentsCoeff; + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + else + { + const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + } + + // Update cache if needed + UPDATE_CACHE + return true; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Initializes a stabbing query : + * - reset stats & contact status + * - compute ray in local space + * - check temporal coherence + * + * \param world_ray [in] stabbing ray in world space + * \param world [in] object's world matrix, or null + * \param face_id [in] index of previously stabbed triangle + * \return TRUE if we can return immediately + * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL RayCollider::InitQuery(const Ray& world_ray, const Matrix4x4* world, udword* face_id) +{ + // Reset stats & contact status + Collider::InitQuery(); + mNbRayBVTests = 0; + mNbRayPrimTests = 0; + mNbIntersections = 0; +#ifndef OPC_RAYHIT_CALLBACK + if(mStabbedFaces) mStabbedFaces->Reset(); +#endif + + // Compute ray in local space + // The (Origin/Dir) form is needed for the ray-triangle test anyway (even for segment tests) + if(world) + { + Matrix3x3 InvWorld = *world; + mDir = InvWorld * world_ray.mDir; + + Matrix4x4 World; + InvertPRMatrix(World, *world); + mOrigin = world_ray.mOrig * World; + } + else + { + mDir = world_ray.mDir; + mOrigin = world_ray.mOrig; + } + + // 4) Special case: 1-triangle meshes [Opcode 1.3] + if(mCurrentModel && mCurrentModel->HasSingleNode()) + { + // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. + if(!SkipPrimitiveTests()) + { + // Perform overlap test between the unique triangle and the ray (and set contact status if needed) + SEGMENT_PRIM(udword(0), OPC_CONTACT) + + // Return immediately regardless of status + return TRUE; + } + } + + // Check temporal coherence : + + // Test previously colliding primitives first + if(TemporalCoherenceEnabled() && FirstContactEnabled() && face_id && *face_id!=INVALID_ID) + { +#ifdef OLD_CODE +#ifndef OPC_RAYHIT_CALLBACK + if(!mClosestHit) +#endif + { + // Request vertices from the app + VertexPointers VP; + mIMesh->GetTriangle(VP, *face_id); + // Perform ray-cached tri overlap test + if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) + { + // Intersection IcePoint is valid if: + // - distance is positive (else it can just be a face behind the orig IcePoint) + // - distance is smaller than a given max distance (useful for shadow feelers) +// if(mStabbedFace.mDistance>0.0f && mStabbedFace.mDistance<mMaxDist) + if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) // The other test is already performed in RayTriOverlap + { + // Set contact status + mFlags |= OPC_TEMPORAL_CONTACT; + + mStabbedFace.mFaceID = *face_id; + +#ifndef OPC_RAYHIT_CALLBACK + if(mStabbedFaces) mStabbedFaces->AddFace(mStabbedFace); +#endif + return TRUE; + } + } + } +#else + // New code + // We handle both IceSegment/ray queries with the same segment code, and a possible infinite limit + SEGMENT_PRIM(*face_id, OPC_TEMPORAL_CONTACT) + + // Return immediately if possible + if(GetContactStatus()) return TRUE; +#endif + } + + // Precompute data (moved after temporal coherence since only needed for ray-AABB) + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) + { + // For IceSegment-AABB overlap + mData = 0.5f * mDir * mMaxDist; + mData2 = mOrigin + mData; + + // Precompute mFDir; + mFDir.x = fabsf(mData.x); + mFDir.y = fabsf(mData.y); + mFDir.z = fabsf(mData.z); + } + else + { + // For Ray-AABB overlap +// udword x = SIR(mDir.x)-1; +// udword y = SIR(mDir.y)-1; +// udword z = SIR(mDir.z)-1; +// mData.x = FR(x); +// mData.y = FR(y); +// mData.z = FR(z); + + // Precompute mFDir; + mFDir.x = fabsf(mDir.x); + mFDir.y = fabsf(mDir.y); + mFDir.z = fabsf(mDir.z); + } + + return FALSE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Stabbing query for vanilla AABB trees. + * \param world_ray [in] stabbing ray in world space + * \param tree [in] AABB tree + * \param box_indices [out] indices of stabbed boxes + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool RayCollider::Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices) +{ + // ### bad design here + + // 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 + // Basically this is only called to initialize precomputed data + if(InitQuery(world_ray)) return true; + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(tree, box_indices); + else _RayStab(tree, box_indices); + + return true; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBCollisionNode* node) +{ + // Perform IceSegment-AABB overlap test + if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->IsLeaf()) + { + SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + _SegmentStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(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 IceSegment-AABB overlap test + if(!SegmentAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + _SegmentStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBNoLeafNode* node) +{ + // Perform IceSegment-AABB overlap test + if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->HasPosLeaf()) + { + SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(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 IceSegment-AABB overlap test + if(!SegmentAABBOverlap(Center, Extents)) return; + + if(node->HasPosLeaf()) + { + SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for vanilla AABB trees. + * \param node [in] current collision node + * \param box_indices [out] indices of stabbed boxes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBTreeNode* node, Container& box_indices) +{ + // Test the box against the segment + IcePoint Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!SegmentAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _SegmentStab(node->GetPos(), box_indices); + _SegmentStab(node->GetNeg(), box_indices); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBCollisionNode* node) +{ + // Perform Ray-AABB overlap test + if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->IsLeaf()) + { + RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _RayStab(node->GetPos()); + + if(ContactFound()) return; + + _RayStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(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 Ray-AABB overlap test + if(!RayAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _RayStab(node->GetPos()); + + if(ContactFound()) return; + + _RayStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBNoLeafNode* node) +{ + // Perform Ray-AABB overlap test + if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->HasPosLeaf()) + { + RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(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 Ray-AABB overlap test + if(!RayAABBOverlap(Center, Extents)) return; + + if(node->HasPosLeaf()) + { + RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for vanilla AABB trees. + * \param node [in] current collision node + * \param box_indices [out] indices of stabbed boxes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBTreeNode* node, Container& box_indices) +{ + // Test the box against the ray + IcePoint Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!RayAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + mFlags |= OPC_CONTACT; + box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _RayStab(node->GetPos(), box_indices); + _RayStab(node->GetNeg(), box_indices); + } +} diff --git a/Opcode/OPC_RayCollider.h b/Opcode/OPC_RayCollider.h index 64dc2b4..393bc5f 100644 --- a/Opcode/OPC_RayCollider.h +++ b/Opcode/OPC_RayCollider.h @@ -1,225 +1,225 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for a ray collider.
- * \file OPC_RayCollider.h
- * \author Pierre Terdiman
- * \date June, 2, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_RAYCOLLIDER_H__
-#define __OPC_RAYCOLLIDER_H__
-
- class OPCODE_API CollisionFace
- {
- public:
- //! Constructor
- inline_ CollisionFace() {}
- //! Destructor
- inline_ ~CollisionFace() {}
-
- udword mFaceID; //!< Index of touched face
- float mDistance; //!< Distance from collider to hitpoint
- float mU, mV; //!< Impact barycentric coordinates
- };
-
- class OPCODE_API CollisionFaces : private Container
- {
- public:
- //! Constructor
- CollisionFaces() {}
- //! Destructor
- ~CollisionFaces() {}
-
- inline_ udword GetNbFaces() const { return GetNbEntries()>>2; }
- inline_ const CollisionFace* GetFaces() const { return (const CollisionFace*)GetEntries(); }
-
- inline_ void Reset() { Container::Reset(); }
-
- inline_ void AddFace(const CollisionFace& face) { Add(face.mFaceID).Add(face.mDistance).Add(face.mU).Add(face.mV); }
- };
-
-#ifdef OPC_RAYHIT_CALLBACK
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * User-callback, called by OPCODE to record a hit.
- * \param hit [in] current hit
- * \param user_data [in] user-defined data from SetCallback()
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- typedef void (*HitCallback) (const CollisionFace& hit, void* user_data);
-#endif
-
- class OPCODE_API RayCollider : public Collider
- {
- public:
- // Constructor / Destructor
- RayCollider();
- virtual ~RayCollider();
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Generic stabbing query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - in the user-provided destination array
- *
- * \param world_ray [in] stabbing ray in world space
- * \param model [in] Opcode model to collide with
- * \param world [in] model's world matrix, or null
- * \param cache [in] a possibly cached face index, or null
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world=null, udword* cache=null);
- //
- bool Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices);
- // Settings
-
-#ifndef OPC_RAYHIT_CALLBACK
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Settings: enable or disable "closest hit" mode.
- * \param flag [in] true to report closest hit only
- * \see SetCulling(bool flag)
- * \see SetMaxDist(float max_dist)
- * \see SetDestination(StabbedFaces* sf)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetClosestHit(bool flag) { mClosestHit = flag; }
-#endif
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Settings: enable or disable backface culling.
- * \param flag [in] true to enable backface culling
- * \see SetClosestHit(bool flag)
- * \see SetMaxDist(float max_dist)
- * \see SetDestination(StabbedFaces* sf)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetCulling(bool flag) { mCulling = flag; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Settings: sets the higher distance bound.
- * \param max_dist [in] higher distance bound. Default = maximal value, for ray queries (else segment)
- * \see SetClosestHit(bool flag)
- * \see SetCulling(bool flag)
- * \see SetDestination(StabbedFaces* sf)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetMaxDist(float max_dist=MAX_FLOAT) { mMaxDist = max_dist; }
-
-#ifdef OPC_RAYHIT_CALLBACK
- inline_ void SetHitCallback(HitCallback cb) { mHitCallback = cb; }
- inline_ void SetUserData(void* user_data) { mUserData = user_data; }
-#else
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Settings: sets the destination array for stabbed faces.
- * \param cf [in] destination array, filled during queries
- * \see SetClosestHit(bool flag)
- * \see SetCulling(bool flag)
- * \see SetMaxDist(float max_dist)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetDestination(CollisionFaces* cf) { mStabbedFaces = cf; }
-#endif
- // Stats
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Stats: gets the number of Ray-BV overlap tests after a collision query.
- * \see GetNbRayPrimTests()
- * \see GetNbIntersections()
- * \return the number of Ray-BV tests performed during last query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbRayBVTests() const { return mNbRayBVTests; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Stats: gets the number of Ray-Triangle overlap tests after a collision query.
- * \see GetNbRayBVTests()
- * \see GetNbIntersections()
- * \return the number of Ray-Triangle tests performed during last query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbRayPrimTests() const { return mNbRayPrimTests; }
-
- // In-out test
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Stats: gets the number of intersection found after a collision query. Can be used for in/out tests.
- * \see GetNbRayBVTests()
- * \see GetNbRayPrimTests()
- * \return the number of valid intersections during last query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbIntersections() const { return mNbIntersections; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
- * \return null if everything is ok, else a string describing the problem
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(Collider) const char* ValidateSettings();
-
- protected:
- // Ray in local space
- IcePoint mOrigin; //!< Ray origin
- IcePoint mDir; //!< Ray direction (normalized)
- IcePoint mFDir; //!< fabsf(mDir)
- IcePoint mData, mData2;
- // Stabbed faces
- CollisionFace mStabbedFace; //!< Current stabbed face
-#ifdef OPC_RAYHIT_CALLBACK
- HitCallback mHitCallback; //!< Callback used to record a hit
- void* mUserData; //!< User-defined data
-#else
- CollisionFaces* mStabbedFaces; //!< List of stabbed faces
-#endif
- // Stats
- udword mNbRayBVTests; //!< Number of Ray-BV tests
- udword mNbRayPrimTests; //!< Number of Ray-Primitive tests
- // In-out test
- udword mNbIntersections; //!< Number of valid intersections
- // Dequantization coeffs
- IcePoint mCenterCoeff;
- IcePoint mExtentsCoeff;
- // Settings
- float mMaxDist; //!< Valid segment on the ray
-#ifndef OPC_RAYHIT_CALLBACK
- bool mClosestHit; //!< Report closest hit only
-#endif
- bool mCulling; //!< Stab culled faces or not
- // Internal methods
- void _SegmentStab(const AABBCollisionNode* node);
- void _SegmentStab(const AABBNoLeafNode* node);
- void _SegmentStab(const AABBQuantizedNode* node);
- void _SegmentStab(const AABBQuantizedNoLeafNode* node);
- void _SegmentStab(const AABBTreeNode* node, Container& box_indices);
- void _RayStab(const AABBCollisionNode* node);
- void _RayStab(const AABBNoLeafNode* node);
- void _RayStab(const AABBQuantizedNode* node);
- void _RayStab(const AABBQuantizedNoLeafNode* node);
- void _RayStab(const AABBTreeNode* node, Container& box_indices);
- // Overlap tests
- inline_ BOOL RayAABBOverlap(const IcePoint& center, const IcePoint& extents);
- inline_ BOOL SegmentAABBOverlap(const IcePoint& center, const IcePoint& extents);
- inline_ BOOL RayTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2);
- // Init methods
- BOOL InitQuery(const Ray& world_ray, const Matrix4x4* world=null, udword* face_id=null);
- };
-
-#endif // __OPC_RAYCOLLIDER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a ray collider. + * \file OPC_RayCollider.h + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_RAYCOLLIDER_H__ +#define __OPC_RAYCOLLIDER_H__ + + class OPCODE_API CollisionFace + { + public: + //! Constructor + inline_ CollisionFace() {} + //! Destructor + inline_ ~CollisionFace() {} + + udword mFaceID; //!< Index of touched face + float mDistance; //!< Distance from collider to hitpoint + float mU, mV; //!< Impact barycentric coordinates + }; + + class OPCODE_API CollisionFaces : private Container + { + public: + //! Constructor + CollisionFaces() {} + //! Destructor + ~CollisionFaces() {} + + inline_ udword GetNbFaces() const { return GetNbEntries()>>2; } + inline_ const CollisionFace* GetFaces() const { return (const CollisionFace*)GetEntries(); } + + inline_ void Reset() { Container::Reset(); } + + inline_ void AddFace(const CollisionFace& face) { Add(face.mFaceID).Add(face.mDistance).Add(face.mU).Add(face.mV); } + }; + +#ifdef OPC_RAYHIT_CALLBACK + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * User-callback, called by OPCODE to record a hit. + * \param hit [in] current hit + * \param user_data [in] user-defined data from SetCallback() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + typedef void (*HitCallback) (const CollisionFace& hit, void* user_data); +#endif + + class OPCODE_API RayCollider : public Collider + { + public: + // Constructor / Destructor + RayCollider(); + virtual ~RayCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic stabbing query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - in the user-provided destination array + * + * \param world_ray [in] stabbing ray in world space + * \param model [in] Opcode model to collide with + * \param world [in] model's world matrix, or null + * \param cache [in] a possibly cached face index, or null + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world=null, udword* cache=null); + // + bool Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices); + // Settings + +#ifndef OPC_RAYHIT_CALLBACK + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: enable or disable "closest hit" mode. + * \param flag [in] true to report closest hit only + * \see SetCulling(bool flag) + * \see SetMaxDist(float max_dist) + * \see SetDestination(StabbedFaces* sf) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetClosestHit(bool flag) { mClosestHit = flag; } +#endif + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: enable or disable backface culling. + * \param flag [in] true to enable backface culling + * \see SetClosestHit(bool flag) + * \see SetMaxDist(float max_dist) + * \see SetDestination(StabbedFaces* sf) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetCulling(bool flag) { mCulling = flag; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: sets the higher distance bound. + * \param max_dist [in] higher distance bound. Default = maximal value, for ray queries (else segment) + * \see SetClosestHit(bool flag) + * \see SetCulling(bool flag) + * \see SetDestination(StabbedFaces* sf) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetMaxDist(float max_dist=MAX_FLOAT) { mMaxDist = max_dist; } + +#ifdef OPC_RAYHIT_CALLBACK + inline_ void SetHitCallback(HitCallback cb) { mHitCallback = cb; } + inline_ void SetUserData(void* user_data) { mUserData = user_data; } +#else + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: sets the destination array for stabbed faces. + * \param cf [in] destination array, filled during queries + * \see SetClosestHit(bool flag) + * \see SetCulling(bool flag) + * \see SetMaxDist(float max_dist) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetDestination(CollisionFaces* cf) { mStabbedFaces = cf; } +#endif + // Stats + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Ray-BV overlap tests after a collision query. + * \see GetNbRayPrimTests() + * \see GetNbIntersections() + * \return the number of Ray-BV tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbRayBVTests() const { return mNbRayBVTests; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Ray-Triangle overlap tests after a collision query. + * \see GetNbRayBVTests() + * \see GetNbIntersections() + * \return the number of Ray-Triangle tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbRayPrimTests() const { return mNbRayPrimTests; } + + // In-out test + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of intersection found after a collision query. Can be used for in/out tests. + * \see GetNbRayBVTests() + * \see GetNbRayPrimTests() + * \return the number of valid intersections during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbIntersections() const { return mNbIntersections; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Ray in local space + IcePoint mOrigin; //!< Ray origin + IcePoint mDir; //!< Ray direction (normalized) + IcePoint mFDir; //!< fabsf(mDir) + IcePoint mData, mData2; + // Stabbed faces + CollisionFace mStabbedFace; //!< Current stabbed face +#ifdef OPC_RAYHIT_CALLBACK + HitCallback mHitCallback; //!< Callback used to record a hit + void* mUserData; //!< User-defined data +#else + CollisionFaces* mStabbedFaces; //!< List of stabbed faces +#endif + // Stats + udword mNbRayBVTests; //!< Number of Ray-BV tests + udword mNbRayPrimTests; //!< Number of Ray-Primitive tests + // In-out test + udword mNbIntersections; //!< Number of valid intersections + // Dequantization coeffs + IcePoint mCenterCoeff; + IcePoint mExtentsCoeff; + // Settings + float mMaxDist; //!< Valid segment on the ray +#ifndef OPC_RAYHIT_CALLBACK + bool mClosestHit; //!< Report closest hit only +#endif + bool mCulling; //!< Stab culled faces or not + // Internal methods + void _SegmentStab(const AABBCollisionNode* node); + void _SegmentStab(const AABBNoLeafNode* node); + void _SegmentStab(const AABBQuantizedNode* node); + void _SegmentStab(const AABBQuantizedNoLeafNode* node); + void _SegmentStab(const AABBTreeNode* node, Container& box_indices); + void _RayStab(const AABBCollisionNode* node); + void _RayStab(const AABBNoLeafNode* node); + void _RayStab(const AABBQuantizedNode* node); + void _RayStab(const AABBQuantizedNoLeafNode* node); + void _RayStab(const AABBTreeNode* node, Container& box_indices); + // Overlap tests + inline_ BOOL RayAABBOverlap(const IcePoint& center, const IcePoint& extents); + inline_ BOOL SegmentAABBOverlap(const IcePoint& center, const IcePoint& extents); + inline_ BOOL RayTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2); + // Init methods + BOOL InitQuery(const Ray& world_ray, const Matrix4x4* world=null, udword* face_id=null); + }; + +#endif // __OPC_RAYCOLLIDER_H__ diff --git a/Opcode/OPC_RayTriOverlap.h b/Opcode/OPC_RayTriOverlap.h index 6991434..405c7e1 100644 --- a/Opcode/OPC_RayTriOverlap.h +++ b/Opcode/OPC_RayTriOverlap.h @@ -1,89 +1,89 @@ -#define LOCAL_EPSILON 0.000001f
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes a ray-triangle intersection test.
- * Original code from Tomas Möller's "Fast Minimum Storage Ray-Triangle Intersection".
- * It's been optimized a bit with integer code, and modified to return a non-intersection if distance from
- * ray origin to triangle is negative.
- *
- * \param vert0 [in] triangle vertex
- * \param vert1 [in] triangle vertex
- * \param vert2 [in] triangle vertex
- * \return true on overlap. mStabbedFace is filled with relevant info.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL RayCollider::RayTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2)
-{
- // Stats
- mNbRayPrimTests++;
-
- // Find vectors for two edges sharing vert0
- IcePoint edge1 = vert1 - vert0;
- IcePoint edge2 = vert2 - vert0;
-
- // Begin calculating determinant - also used to calculate U parameter
- IcePoint pvec = mDir^edge2;
-
- // If determinant is near zero, ray lies in plane of triangle
- float det = edge1|pvec;
-
- if(mCulling)
- {
- if(det<LOCAL_EPSILON) return FALSE;
- // From here, det is > 0. So we can use integer cmp.
-
- // Calculate distance from vert0 to ray origin
- IcePoint tvec = mOrigin - vert0;
-
- // Calculate U parameter and test bounds
- mStabbedFace.mU = tvec|pvec;
-// if(IR(u)&0x80000000 || u>det) return FALSE;
- if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IR(det)) return FALSE;
-
- // Prepare to test V parameter
- IcePoint qvec = tvec^edge1;
-
- // Calculate V parameter and test bounds
- mStabbedFace.mV = mDir|qvec;
- if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>det) return FALSE;
-
- // Calculate t, scale parameters, ray intersects triangle
- mStabbedFace.mDistance = edge2|qvec;
- // Det > 0 so we can early exit here
- // Intersection IcePoint is valid if distance is positive (else it can just be a face behind the orig IcePoint)
- if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE;
- // Else go on
- float OneOverDet = 1.0f / det;
- mStabbedFace.mDistance *= OneOverDet;
- mStabbedFace.mU *= OneOverDet;
- mStabbedFace.mV *= OneOverDet;
- }
- else
- {
- // the non-culling branch
- if(det>-LOCAL_EPSILON && det<LOCAL_EPSILON) return FALSE;
- float OneOverDet = 1.0f / det;
-
- // Calculate distance from vert0 to ray origin
- IcePoint tvec = mOrigin - vert0;
-
- // Calculate U parameter and test bounds
- mStabbedFace.mU = (tvec|pvec) * OneOverDet;
-// if(IR(u)&0x80000000 || u>1.0f) return FALSE;
- if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IEEE_1_0) return FALSE;
-
- // prepare to test V parameter
- IcePoint qvec = tvec^edge1;
-
- // Calculate V parameter and test bounds
- mStabbedFace.mV = (mDir|qvec) * OneOverDet;
- if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>1.0f) return FALSE;
-
- // Calculate t, ray intersects triangle
- mStabbedFace.mDistance = (edge2|qvec) * OneOverDet;
- // Intersection IcePoint is valid if distance is positive (else it can just be a face behind the orig IcePoint)
- if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE;
- }
- return TRUE;
-}
+#define LOCAL_EPSILON 0.000001f + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a ray-triangle intersection test. + * Original code from Tomas Möller's "Fast Minimum Storage Ray-Triangle Intersection". + * It's been optimized a bit with integer code, and modified to return a non-intersection if distance from + * ray origin to triangle is negative. + * + * \param vert0 [in] triangle vertex + * \param vert1 [in] triangle vertex + * \param vert2 [in] triangle vertex + * \return true on overlap. mStabbedFace is filled with relevant info. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL RayCollider::RayTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2) +{ + // Stats + mNbRayPrimTests++; + + // Find vectors for two edges sharing vert0 + IcePoint edge1 = vert1 - vert0; + IcePoint edge2 = vert2 - vert0; + + // Begin calculating determinant - also used to calculate U parameter + IcePoint pvec = mDir^edge2; + + // If determinant is near zero, ray lies in plane of triangle + float det = edge1|pvec; + + if(mCulling) + { + if(det<LOCAL_EPSILON) return FALSE; + // From here, det is > 0. So we can use integer cmp. + + // Calculate distance from vert0 to ray origin + IcePoint tvec = mOrigin - vert0; + + // Calculate U parameter and test bounds + mStabbedFace.mU = tvec|pvec; +// if(IR(u)&0x80000000 || u>det) return FALSE; + if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IR(det)) return FALSE; + + // Prepare to test V parameter + IcePoint qvec = tvec^edge1; + + // Calculate V parameter and test bounds + mStabbedFace.mV = mDir|qvec; + if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>det) return FALSE; + + // Calculate t, scale parameters, ray intersects triangle + mStabbedFace.mDistance = edge2|qvec; + // Det > 0 so we can early exit here + // Intersection IcePoint is valid if distance is positive (else it can just be a face behind the orig IcePoint) + if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE; + // Else go on + float OneOverDet = 1.0f / det; + mStabbedFace.mDistance *= OneOverDet; + mStabbedFace.mU *= OneOverDet; + mStabbedFace.mV *= OneOverDet; + } + else + { + // the non-culling branch + if(det>-LOCAL_EPSILON && det<LOCAL_EPSILON) return FALSE; + float OneOverDet = 1.0f / det; + + // Calculate distance from vert0 to ray origin + IcePoint tvec = mOrigin - vert0; + + // Calculate U parameter and test bounds + mStabbedFace.mU = (tvec|pvec) * OneOverDet; +// if(IR(u)&0x80000000 || u>1.0f) return FALSE; + if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IEEE_1_0) return FALSE; + + // prepare to test V parameter + IcePoint qvec = tvec^edge1; + + // Calculate V parameter and test bounds + mStabbedFace.mV = (mDir|qvec) * OneOverDet; + if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>1.0f) return FALSE; + + // Calculate t, ray intersects triangle + mStabbedFace.mDistance = (edge2|qvec) * OneOverDet; + // Intersection IcePoint is valid if distance is positive (else it can just be a face behind the orig IcePoint) + if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE; + } + return TRUE; +} diff --git a/Opcode/OPC_Settings.h b/Opcode/OPC_Settings.h index 8232d9b..88d2ccd 100644 --- a/Opcode/OPC_Settings.h +++ b/Opcode/OPC_Settings.h @@ -1,49 +1,49 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains compilation flags.
- * \file OPC_Settings.h
- * \author Pierre Terdiman
- * \date May, 12, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_SETTINGS_H__
-#define __OPC_SETTINGS_H__
-
- //! Use CPU comparisons (comment that line to use standard FPU compares)
- #define OPC_CPU_COMPARE
-
- //! Use FCOMI / FCMOV on Pentium-Pro based processors (comment that line to use plain C++)
- #define OPC_USE_FCOMI
-
- //! Use epsilon value in tri-tri overlap test
- #define OPC_TRITRI_EPSILON_TEST
-
- //! Use tree-coherence or not [not implemented yet]
-// #define OPC_USE_TREE_COHERENCE
-
- //! Use callbacks or direct pointers. Using callbacks might be a bit slower (but probably not much)
-// #define OPC_USE_CALLBACKS
-
- //! Support triangle and vertex strides or not. Using strides might be a bit slower (but probably not much)
-// #define OPC_USE_STRIDE
-
- //! Discard negative pointer in vanilla trees
- #define OPC_NO_NEG_VANILLA_TREE
-
- //! Use a callback in the ray collider
- #define OPC_RAYHIT_CALLBACK
-
- // NB: no compilation flag to enable/disable stats since they're actually needed in the box/box overlap test
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains compilation flags. + * \file OPC_Settings.h + * \author Pierre Terdiman + * \date May, 12, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_SETTINGS_H__ +#define __OPC_SETTINGS_H__ + + //! Use CPU comparisons (comment that line to use standard FPU compares) + #define OPC_CPU_COMPARE + + //! Use FCOMI / FCMOV on Pentium-Pro based processors (comment that line to use plain C++) + #define OPC_USE_FCOMI + + //! Use epsilon value in tri-tri overlap test + #define OPC_TRITRI_EPSILON_TEST + + //! Use tree-coherence or not [not implemented yet] +// #define OPC_USE_TREE_COHERENCE + + //! Use callbacks or direct pointers. Using callbacks might be a bit slower (but probably not much) +// #define OPC_USE_CALLBACKS + + //! Support triangle and vertex strides or not. Using strides might be a bit slower (but probably not much) +// #define OPC_USE_STRIDE + + //! Discard negative pointer in vanilla trees + #define OPC_NO_NEG_VANILLA_TREE + + //! Use a callback in the ray collider + #define OPC_RAYHIT_CALLBACK + + // NB: no compilation flag to enable/disable stats since they're actually needed in the box/box overlap test + #endif //__OPC_SETTINGS_H__
\ No newline at end of file diff --git a/Opcode/OPC_SphereAABBOverlap.h b/Opcode/OPC_SphereAABBOverlap.h index a5bd35b..b7b4376 100644 --- a/Opcode/OPC_SphereAABBOverlap.h +++ b/Opcode/OPC_SphereAABBOverlap.h @@ -1,128 +1,128 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Sphere-AABB overlap test, based on Jim Arvo's code.
- * \param center [in] box center
- * \param extents [in] box extents
- * \return TRUE on overlap
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL SphereCollider::SphereAABBOverlap(const IcePoint& center, const IcePoint& extents)
-{
- // Stats
- mNbVolumeBVTests++;
-
- float d = 0.0f;
-
- //find the square of the distance
- //from the sphere to the box
-#ifdef OLDIES
- for(udword i=0;i<3;i++)
- {
- float tmp = mCenter[i] - center[i];
- float s = tmp + extents[i];
-
- if(s<0.0f) d += s*s;
- else
- {
- s = tmp - extents[i];
- if(s>0.0f) d += s*s;
- }
- }
-#endif
-
-//#ifdef NEW_TEST
-
-// float tmp = mCenter.x - center.x;
-// float s = tmp + extents.x;
-
- float tmp,s;
-
- tmp = mCenter.x - center.x;
- s = tmp + extents.x;
-
- if(s<0.0f)
- {
- d += s*s;
- if(d>mRadius2) return FALSE;
- }
- else
- {
- s = tmp - extents.x;
- if(s>0.0f)
- {
- d += s*s;
- if(d>mRadius2) return FALSE;
- }
- }
-
- tmp = mCenter.y - center.y;
- s = tmp + extents.y;
-
- if(s<0.0f)
- {
- d += s*s;
- if(d>mRadius2) return FALSE;
- }
- else
- {
- s = tmp - extents.y;
- if(s>0.0f)
- {
- d += s*s;
- if(d>mRadius2) return FALSE;
- }
- }
-
- tmp = mCenter.z - center.z;
- s = tmp + extents.z;
-
- if(s<0.0f)
- {
- d += s*s;
- if(d>mRadius2) return FALSE;
- }
- else
- {
- s = tmp - extents.z;
- if(s>0.0f)
- {
- d += s*s;
- if(d>mRadius2) return FALSE;
- }
- }
-//#endif
-
-#ifdef OLDIES
-// IcePoint Min = center - extents;
-// IcePoint Max = center + extents;
-
- float d = 0.0f;
-
- //find the square of the distance
- //from the sphere to the box
- for(udword i=0;i<3;i++)
- {
-float Min = center[i] - extents[i];
-
-// if(mCenter[i]<Min[i])
- if(mCenter[i]<Min)
- {
-// float s = mCenter[i] - Min[i];
- float s = mCenter[i] - Min;
- d += s*s;
- }
- else
- {
-float Max = center[i] + extents[i];
-
-// if(mCenter[i]>Max[i])
- if(mCenter[i]>Max)
- {
- float s = mCenter[i] - Max;
- d += s*s;
- }
- }
- }
-#endif
- return d <= mRadius2;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Sphere-AABB overlap test, based on Jim Arvo's code. + * \param center [in] box center + * \param extents [in] box extents + * \return TRUE on overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL SphereCollider::SphereAABBOverlap(const IcePoint& center, const IcePoint& extents) +{ + // Stats + mNbVolumeBVTests++; + + float d = 0.0f; + + //find the square of the distance + //from the sphere to the box +#ifdef OLDIES + for(udword i=0;i<3;i++) + { + float tmp = mCenter[i] - center[i]; + float s = tmp + extents[i]; + + if(s<0.0f) d += s*s; + else + { + s = tmp - extents[i]; + if(s>0.0f) d += s*s; + } + } +#endif + +//#ifdef NEW_TEST + +// float tmp = mCenter.x - center.x; +// float s = tmp + extents.x; + + float tmp,s; + + tmp = mCenter.x - center.x; + s = tmp + extents.x; + + if(s<0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + else + { + s = tmp - extents.x; + if(s>0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + } + + tmp = mCenter.y - center.y; + s = tmp + extents.y; + + if(s<0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + else + { + s = tmp - extents.y; + if(s>0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + } + + tmp = mCenter.z - center.z; + s = tmp + extents.z; + + if(s<0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + else + { + s = tmp - extents.z; + if(s>0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + } +//#endif + +#ifdef OLDIES +// IcePoint Min = center - extents; +// IcePoint Max = center + extents; + + float d = 0.0f; + + //find the square of the distance + //from the sphere to the box + for(udword i=0;i<3;i++) + { +float Min = center[i] - extents[i]; + +// if(mCenter[i]<Min[i]) + if(mCenter[i]<Min) + { +// float s = mCenter[i] - Min[i]; + float s = mCenter[i] - Min; + d += s*s; + } + else + { +float Max = center[i] + extents[i]; + +// if(mCenter[i]>Max[i]) + if(mCenter[i]>Max) + { + float s = mCenter[i] - Max; + d += s*s; + } + } + } +#endif + return d <= mRadius2; +} 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; +} diff --git a/Opcode/OPC_SphereCollider.h b/Opcode/OPC_SphereCollider.h index ee7a278..095824a 100644 --- a/Opcode/OPC_SphereCollider.h +++ b/Opcode/OPC_SphereCollider.h @@ -1,96 +1,96 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * 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.h
- * \author Pierre Terdiman
- * \date June, 2, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_SPHERECOLLIDER_H__
-#define __OPC_SPHERECOLLIDER_H__
-
- struct OPCODE_API SphereCache : VolumeCache
- {
- SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f) {}
- ~SphereCache() {}
-
- // Cached faces signature
- IcePoint Center; //!< Sphere used when performing the query resulting in cached faces
- float FatRadius2; //!< Sphere used when performing the query resulting in cached faces
- // User settings
- float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere
- };
-
- class OPCODE_API SphereCollider : public VolumeCollider
- {
- public:
- // Constructor / Destructor
- SphereCollider();
- virtual ~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 Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
-
- //
- bool Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree);
- protected:
- // Sphere in model space
- IcePoint mCenter; //!< Sphere center
- float mRadius2; //!< Sphere radius squared
- // Internal methods
- void _Collide(const AABBCollisionNode* node);
- void _Collide(const AABBNoLeafNode* node);
- void _Collide(const AABBQuantizedNode* node);
- void _Collide(const AABBQuantizedNoLeafNode* node);
- void _Collide(const AABBTreeNode* node);
- void _CollideNoPrimitiveTest(const AABBCollisionNode* node);
- void _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
- void _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
- void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
- // Overlap tests
- inline_ BOOL SphereContainsBox(const IcePoint& bc, const IcePoint& be);
- inline_ BOOL SphereAABBOverlap(const IcePoint& center, const IcePoint& extents);
- BOOL SphereTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2);
- // Init methods
- BOOL InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
- };
-
- class OPCODE_API HybridSphereCollider : public SphereCollider
- {
- public:
- // Constructor / Destructor
- HybridSphereCollider();
- virtual ~HybridSphereCollider();
-
- bool Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
- protected:
- Container mTouchedBoxes;
- };
-
-#endif // __OPC_SPHERECOLLIDER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * 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.h + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_SPHERECOLLIDER_H__ +#define __OPC_SPHERECOLLIDER_H__ + + struct OPCODE_API SphereCache : VolumeCache + { + SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f) {} + ~SphereCache() {} + + // Cached faces signature + IcePoint Center; //!< Sphere used when performing the query resulting in cached faces + float FatRadius2; //!< Sphere used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere + }; + + class OPCODE_API SphereCollider : public VolumeCollider + { + public: + // Constructor / Destructor + SphereCollider(); + virtual ~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 Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); + + // + bool Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree); + protected: + // Sphere in model space + IcePoint mCenter; //!< Sphere center + float mRadius2; //!< Sphere radius squared + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* node); + void _Collide(const AABBTreeNode* node); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); + // Overlap tests + inline_ BOOL SphereContainsBox(const IcePoint& bc, const IcePoint& be); + inline_ BOOL SphereAABBOverlap(const IcePoint& center, const IcePoint& extents); + BOOL SphereTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2); + // Init methods + BOOL InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridSphereCollider : public SphereCollider + { + public: + // Constructor / Destructor + HybridSphereCollider(); + virtual ~HybridSphereCollider(); + + bool Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_SPHERECOLLIDER_H__ diff --git a/Opcode/OPC_SphereTriOverlap.h b/Opcode/OPC_SphereTriOverlap.h index 900c2dd..012d9ea 100644 --- a/Opcode/OPC_SphereTriOverlap.h +++ b/Opcode/OPC_SphereTriOverlap.h @@ -1,187 +1,187 @@ -
-// This is collision detection. If you do another distance test for collision *response*,
-// if might be useful to simply *skip* the test below completely, and report a collision.
-// - if sphere-triangle overlap, result is ok
-// - if they don't, we'll discard them during collision response with a similar test anyway
-// Overall this approach should run faster.
-
-// Original code by David Eberly in Magic.
-BOOL SphereCollider::SphereTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2)
-{
- // Stats
- mNbVolumePrimTests++;
-
- // Early exit if one of the vertices is inside the sphere
- IcePoint kDiff = vert2 - mCenter;
- float fC = kDiff.SquareMagnitude();
- if(fC <= mRadius2) return TRUE;
-
- kDiff = vert1 - mCenter;
- fC = kDiff.SquareMagnitude();
- if(fC <= mRadius2) return TRUE;
-
- kDiff = vert0 - mCenter;
- fC = kDiff.SquareMagnitude();
- if(fC <= mRadius2) return TRUE;
-
- // Else do the full distance test
- IcePoint TriEdge0 = vert1 - vert0;
- IcePoint TriEdge1 = vert2 - vert0;
-
-//IcePoint kDiff = vert0 - mCenter;
- float fA00 = TriEdge0.SquareMagnitude();
- float fA01 = TriEdge0 | TriEdge1;
- float fA11 = TriEdge1.SquareMagnitude();
- float fB0 = kDiff | TriEdge0;
- float fB1 = kDiff | TriEdge1;
-//float fC = kDiff.SquareMagnitude();
- float fDet = fabsf(fA00*fA11 - fA01*fA01);
- float u = fA01*fB1-fA11*fB0;
- float v = fA01*fB0-fA00*fB1;
- float SqrDist;
-
- if(u + v <= fDet)
- {
- if(u < 0.0f)
- {
- if(v < 0.0f) // region 4
- {
- if(fB0 < 0.0f)
- {
-// v = 0.0f;
- if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; }
- else { u = -fB0/fA00; SqrDist = fB0*u+fC; }
- }
- else
- {
-// u = 0.0f;
- if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; }
- else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; }
- else { v = -fB1/fA11; SqrDist = fB1*v+fC; }
- }
- }
- else // region 3
- {
-// u = 0.0f;
- if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; }
- else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; }
- else { v = -fB1/fA11; SqrDist = fB1*v+fC; }
- }
- }
- else if(v < 0.0f) // region 5
- {
-// v = 0.0f;
- if(fB0>=0.0f) { /*u = 0.0f;*/ SqrDist = fC; }
- else if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; }
- else { u = -fB0/fA00; SqrDist = fB0*u+fC; }
- }
- else // region 0
- {
- // minimum at interior IcePoint
- if(fDet==0.0f)
- {
-// u = 0.0f;
-// v = 0.0f;
- SqrDist = MAX_FLOAT;
- }
- else
- {
- float fInvDet = 1.0f/fDet;
- u *= fInvDet;
- v *= fInvDet;
- SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
- }
- }
- }
- else
- {
- float fTmp0, fTmp1, fNumer, fDenom;
-
- if(u < 0.0f) // region 2
- {
- fTmp0 = fA01 + fB0;
- fTmp1 = fA11 + fB1;
- if(fTmp1 > fTmp0)
- {
- fNumer = fTmp1 - fTmp0;
- fDenom = fA00-2.0f*fA01+fA11;
- if(fNumer >= fDenom)
- {
-// u = 1.0f;
-// v = 0.0f;
- SqrDist = fA00+2.0f*fB0+fC;
- }
- else
- {
- u = fNumer/fDenom;
- v = 1.0f - u;
- SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
- }
- }
- else
- {
-// u = 0.0f;
- if(fTmp1 <= 0.0f) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; }
- else if(fB1 >= 0.0f) { /*v = 0.0f;*/ SqrDist = fC; }
- else { v = -fB1/fA11; SqrDist = fB1*v+fC; }
- }
- }
- else if(v < 0.0f) // region 6
- {
- fTmp0 = fA01 + fB1;
- fTmp1 = fA00 + fB0;
- if(fTmp1 > fTmp0)
- {
- fNumer = fTmp1 - fTmp0;
- fDenom = fA00-2.0f*fA01+fA11;
- if(fNumer >= fDenom)
- {
-// v = 1.0f;
-// u = 0.0f;
- SqrDist = fA11+2.0f*fB1+fC;
- }
- else
- {
- v = fNumer/fDenom;
- u = 1.0f - v;
- SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
- }
- }
- else
- {
-// v = 0.0f;
- if(fTmp1 <= 0.0f) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; }
- else if(fB0 >= 0.0f) { /*u = 0.0f;*/ SqrDist = fC; }
- else { u = -fB0/fA00; SqrDist = fB0*u+fC; }
- }
- }
- else // region 1
- {
- fNumer = fA11 + fB1 - fA01 - fB0;
- if(fNumer <= 0.0f)
- {
-// u = 0.0f;
-// v = 1.0f;
- SqrDist = fA11+2.0f*fB1+fC;
- }
- else
- {
- fDenom = fA00-2.0f*fA01+fA11;
- if(fNumer >= fDenom)
- {
-// u = 1.0f;
-// v = 0.0f;
- SqrDist = fA00+2.0f*fB0+fC;
- }
- else
- {
- u = fNumer/fDenom;
- v = 1.0f - u;
- SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC;
- }
- }
- }
- }
-
- return fabsf(SqrDist) < mRadius2;
-}
+ +// This is collision detection. If you do another distance test for collision *response*, +// if might be useful to simply *skip* the test below completely, and report a collision. +// - if sphere-triangle overlap, result is ok +// - if they don't, we'll discard them during collision response with a similar test anyway +// Overall this approach should run faster. + +// Original code by David Eberly in Magic. +BOOL SphereCollider::SphereTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2) +{ + // Stats + mNbVolumePrimTests++; + + // Early exit if one of the vertices is inside the sphere + IcePoint kDiff = vert2 - mCenter; + float fC = kDiff.SquareMagnitude(); + if(fC <= mRadius2) return TRUE; + + kDiff = vert1 - mCenter; + fC = kDiff.SquareMagnitude(); + if(fC <= mRadius2) return TRUE; + + kDiff = vert0 - mCenter; + fC = kDiff.SquareMagnitude(); + if(fC <= mRadius2) return TRUE; + + // Else do the full distance test + IcePoint TriEdge0 = vert1 - vert0; + IcePoint TriEdge1 = vert2 - vert0; + +//IcePoint kDiff = vert0 - mCenter; + float fA00 = TriEdge0.SquareMagnitude(); + float fA01 = TriEdge0 | TriEdge1; + float fA11 = TriEdge1.SquareMagnitude(); + float fB0 = kDiff | TriEdge0; + float fB1 = kDiff | TriEdge1; +//float fC = kDiff.SquareMagnitude(); + float fDet = fabsf(fA00*fA11 - fA01*fA01); + float u = fA01*fB1-fA11*fB0; + float v = fA01*fB0-fA00*fB1; + float SqrDist; + + if(u + v <= fDet) + { + if(u < 0.0f) + { + if(v < 0.0f) // region 4 + { + if(fB0 < 0.0f) + { +// v = 0.0f; + if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } + else { u = -fB0/fA00; SqrDist = fB0*u+fC; } + } + else + { +// u = 0.0f; + if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; } + else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } + else { v = -fB1/fA11; SqrDist = fB1*v+fC; } + } + } + else // region 3 + { +// u = 0.0f; + if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; } + else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } + else { v = -fB1/fA11; SqrDist = fB1*v+fC; } + } + } + else if(v < 0.0f) // region 5 + { +// v = 0.0f; + if(fB0>=0.0f) { /*u = 0.0f;*/ SqrDist = fC; } + else if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } + else { u = -fB0/fA00; SqrDist = fB0*u+fC; } + } + else // region 0 + { + // minimum at interior IcePoint + if(fDet==0.0f) + { +// u = 0.0f; +// v = 0.0f; + SqrDist = MAX_FLOAT; + } + else + { + float fInvDet = 1.0f/fDet; + u *= fInvDet; + v *= fInvDet; + SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; + } + } + } + else + { + float fTmp0, fTmp1, fNumer, fDenom; + + if(u < 0.0f) // region 2 + { + fTmp0 = fA01 + fB0; + fTmp1 = fA11 + fB1; + if(fTmp1 > fTmp0) + { + fNumer = fTmp1 - fTmp0; + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { +// u = 1.0f; +// v = 0.0f; + SqrDist = fA00+2.0f*fB0+fC; + } + else + { + u = fNumer/fDenom; + v = 1.0f - u; + SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; + } + } + else + { +// u = 0.0f; + if(fTmp1 <= 0.0f) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } + else if(fB1 >= 0.0f) { /*v = 0.0f;*/ SqrDist = fC; } + else { v = -fB1/fA11; SqrDist = fB1*v+fC; } + } + } + else if(v < 0.0f) // region 6 + { + fTmp0 = fA01 + fB1; + fTmp1 = fA00 + fB0; + if(fTmp1 > fTmp0) + { + fNumer = fTmp1 - fTmp0; + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { +// v = 1.0f; +// u = 0.0f; + SqrDist = fA11+2.0f*fB1+fC; + } + else + { + v = fNumer/fDenom; + u = 1.0f - v; + SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; + } + } + else + { +// v = 0.0f; + if(fTmp1 <= 0.0f) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } + else if(fB0 >= 0.0f) { /*u = 0.0f;*/ SqrDist = fC; } + else { u = -fB0/fA00; SqrDist = fB0*u+fC; } + } + } + else // region 1 + { + fNumer = fA11 + fB1 - fA01 - fB0; + if(fNumer <= 0.0f) + { +// u = 0.0f; +// v = 1.0f; + SqrDist = fA11+2.0f*fB1+fC; + } + else + { + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { +// u = 1.0f; +// v = 0.0f; + SqrDist = fA00+2.0f*fB0+fC; + } + else + { + u = fNumer/fDenom; + v = 1.0f - u; + SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; + } + } + } + } + + return fabsf(SqrDist) < mRadius2; +} diff --git a/Opcode/OPC_SweepAndPrune.cpp b/Opcode/OPC_SweepAndPrune.cpp index 2e60ca8..e56e7ab 100644 --- a/Opcode/OPC_SweepAndPrune.cpp +++ b/Opcode/OPC_SweepAndPrune.cpp @@ -1,664 +1,664 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains an implementation of the sweep-and-prune algorithm (moved from Z-Collide)
- * \file OPC_SweepAndPrune.cpp
- * \author Pierre Terdiman
- * \date January, 29, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-inline_ void Sort(udword& id0, udword& id1)
-{
- if(id0>id1) Swap(id0, id1);
-}
-
- class Opcode::SAP_Element
- {
- public:
- inline_ SAP_Element() {}
- inline_ SAP_Element(udword id, SAP_Element* next) : mID(id), mNext(next) {}
- inline_ ~SAP_Element() {}
-
- udword mID;
- SAP_Element* mNext;
- };
-
- class Opcode::SAP_Box
- {
- public:
- SAP_EndPoint* Min[3];
- SAP_EndPoint* Max[3];
- };
-
- class Opcode::SAP_EndPoint
- {
- public:
- float Value; // Min or Max value
- SAP_EndPoint* Previous; // Previous EndPoint whose Value is smaller than ours (or null)
- SAP_EndPoint* Next; // Next EndPoint whose Value is greater than ours (or null)
- udword Data; // Parent box ID *2 | MinMax flag
-
- inline_ void SetData(udword box_id, BOOL is_max) { Data = (box_id<<1)|is_max; }
- inline_ BOOL IsMax() const { return Data & 1; }
- inline_ udword GetBoxID() const { return Data>>1; }
-
- inline_ void InsertAfter(SAP_EndPoint* element)
- {
- if(this!=element && this!=element->Next)
- {
- // Remove
- if(Previous) Previous->Next = Next;
- if(Next) Next->Previous = Previous;
-
- // Insert
- Next = element->Next;
- if(Next) Next->Previous = this;
-
- element->Next = this;
- Previous = element;
- }
- }
-
- inline_ void InsertBefore(SAP_EndPoint* element)
- {
- if(this!=element && this!=element->Previous)
- {
- // Remove
- if(Previous) Previous->Next = Next;
- if(Next) Next->Previous = Previous;
-
- // Insert
- Previous = element->Previous;
- element->Previous = this;
-
- Next = element;
- if(Previous) Previous->Next = this;
- }
- }
- };
-
-
-
-
-
-
-
-
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-SAP_PairData::SAP_PairData() :
- mNbElements (0),
- mNbUsedElements (0),
- mElementPool (null),
- mFirstFree (null),
- mNbObjects (0),
- mArray (null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-SAP_PairData::~SAP_PairData()
-{
- Release();
-}
-
-void SAP_PairData::Release()
-{
- mNbElements = 0;
- mNbUsedElements = 0;
- mNbObjects = 0;
- DELETEARRAY(mElementPool);
- DELETEARRAY(mArray);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Initializes.
- * \param nb_objects [in]
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool SAP_PairData::Init(udword nb_objects)
-{
- // Make sure everything has been released
- Release();
- if(!nb_objects) return false;
-
- mArray = new SAP_Element*[nb_objects];
- CHECKALLOC(mArray);
- ZeroMemory(mArray, nb_objects*sizeof(SAP_Element*));
- mNbObjects = nb_objects;
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Remaps a pointer when pool gets resized.
- * \param element [in/out] remapped element
- * \param delta [in] offset in bytes
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ void Remap(SAP_Element*& element, udword delta)
-{
- if(element) element = (SAP_Element*)(udword(element) + delta);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets a free element in the pool.
- * \param id [in] element id
- * \param next [in] next element
- * \param remap [out] possible remapping offset
- * \return the new element
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-SAP_Element* SAP_PairData::GetFreeElem(udword id, SAP_Element* next, udword* remap)
-{
- if(remap) *remap = 0;
-
- SAP_Element* FreeElem;
- if(mFirstFree)
- {
- // Recycle
- FreeElem = mFirstFree;
- mFirstFree = mFirstFree->mNext; // First free = next free (or null)
- }
- else
- {
- if(mNbUsedElements==mNbElements)
- {
- // Resize
- mNbElements = mNbElements ? (mNbElements<<1) : 2;
-
- SAP_Element* NewElems = new SAP_Element[mNbElements];
-
- if(mNbUsedElements) CopyMemory(NewElems, mElementPool, mNbUsedElements*sizeof(SAP_Element));
-
- // Remap everything
- {
- udword Delta = udword(NewElems) - udword(mElementPool);
-
- for(udword i=0;i<mNbUsedElements;i++) Remap(NewElems[i].mNext, Delta);
- for(udword i=0;i<mNbObjects;i++) Remap(mArray[i], Delta);
-
- Remap(mFirstFree, Delta);
- Remap(next, Delta);
-
- if(remap) *remap = Delta;
- }
-
- DELETEARRAY(mElementPool);
- mElementPool = NewElems;
- }
-
- FreeElem = &mElementPool[mNbUsedElements++];
- }
-
- FreeElem->mID = id;
- FreeElem->mNext = next;
-
- return FreeElem;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Frees an element of the pool.
- * \param elem [in] element to free/recycle
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ void SAP_PairData::FreeElem(SAP_Element* elem)
-{
- elem->mNext = mFirstFree; // Next free
- mFirstFree = elem;
-}
-
-// Add a pair to the set.
-void SAP_PairData::AddPair(udword id1, udword id2)
-{
- // Order the ids
- Sort(id1, id2);
-
- ASSERT(id1<mNbObjects);
- if(id1>=mNbObjects) return;
-
- // Select the right list from "mArray".
- SAP_Element* Current = mArray[id1];
-
- if(!Current)
- {
- // Empty slot => create new element
- mArray[id1] = GetFreeElem(id2, null);
- }
- else if(Current->mID>id2)
- {
- // The list is not empty but all elements are greater than id2 => insert id2 in the front.
- mArray[id1] = GetFreeElem(id2, mArray[id1]);
- }
- else
- {
- // Else find the correct location in the sorted list (ascending order) and insert id2 there.
- while(Current->mNext)
- {
- if(Current->mNext->mID > id2) break;
-
- Current = Current->mNext;
- }
-
- if(Current->mID==id2) return; // The pair already exists
-
-// Current->mNext = GetFreeElem(id2, Current->mNext);
- udword Delta;
- SAP_Element* E = GetFreeElem(id2, Current->mNext, &Delta);
- if(Delta) Remap(Current, Delta);
- Current->mNext = E;
- }
-}
-
-// Delete a pair from the set.
-void SAP_PairData::RemovePair(udword id1, udword id2)
-{
- // Order the ids.
- Sort(id1, id2);
-
- // Exit if the pair doesn't exist in the set
- if(id1>=mNbObjects) return;
-
- // Otherwise, select the correct list.
- SAP_Element* Current = mArray[id1];
-
- // If this list is empty, the pair doesn't exist.
- if(!Current) return;
-
- // Otherwise, if id2 is the first element, delete it.
- if(Current->mID==id2)
- {
- mArray[id1] = Current->mNext;
- FreeElem(Current);
- }
- else
- {
- // If id2 is not the first element, start traversing the sorted list.
- while(Current->mNext)
- {
- // If we have moved too far away without hitting id2, then the pair doesn't exist
- if(Current->mNext->mID > id2) return;
-
- // Otherwise, delete id2.
- if(Current->mNext->mID == id2)
- {
- SAP_Element* Temp = Current->mNext;
- Current->mNext = Temp->mNext;
- FreeElem(Temp);
- return;
- }
- Current = Current->mNext;
- }
- }
-}
-
-void SAP_PairData::DumpPairs(Pairs& pairs) const
-{
- // ### Ugly and slow
- for(udword i=0;i<mNbObjects;i++)
- {
- SAP_Element* Current = mArray[i];
- while(Current)
- {
- ASSERT(Current->mID<mNbObjects);
-
- pairs.AddPair(i, Current->mID);
- Current = Current->mNext;
- }
- }
-}
-
-void SAP_PairData::DumpPairs(PairCallback callback, void* user_data) const
-{
- if(!callback) return;
-
- // ### Ugly and slow
- for(udword i=0;i<mNbObjects;i++)
- {
- SAP_Element* Current = mArray[i];
- while(Current)
- {
- ASSERT(Current->mID<mNbObjects);
-
- if(!(callback)(i, Current->mID, user_data)) return;
- Current = Current->mNext;
- }
- }
-}
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-SweepAndPrune::SweepAndPrune()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-SweepAndPrune::~SweepAndPrune()
-{
-}
-
-void SweepAndPrune::GetPairs(Pairs& pairs) const
-{
- mPairs.DumpPairs(pairs);
-}
-
-void SweepAndPrune::GetPairs(PairCallback callback, void* user_data) const
-{
- mPairs.DumpPairs(callback, user_data);
-}
-
-bool SweepAndPrune::Init(udword nb_objects, const AABB** boxes)
-{
- // 1) Create sorted lists
- mNbObjects = nb_objects;
-
- mBoxes = new SAP_Box[nb_objects];
-// for(udword i=0;i<nb_objects;i++) mBoxes[i].Box = *boxes[i];
-
- float* Data = new float[nb_objects*2];
-
- for(udword Axis=0;Axis<3;Axis++)
- {
- mList[Axis] = new SAP_EndPoint[nb_objects*2];
-
- for(udword i=0;i<nb_objects;i++)
- {
- Data[i*2+0] = boxes[i]->GetMin(Axis);
- Data[i*2+1] = boxes[i]->GetMax(Axis);
- }
- RadixSort RS;
- const udword* Sorted = RS.Sort(Data, nb_objects*2).GetRanks();
-
- SAP_EndPoint* PreviousEndPoint = null;
-
- for(udword i=0;i<nb_objects*2;i++)
- {
- udword SortedIndex = *Sorted++;
- float SortedCoord = Data[SortedIndex];
- udword BoxIndex = SortedIndex>>1;
-
- ASSERT(BoxIndex<nb_objects);
-
- SAP_EndPoint* CurrentEndPoint = &mList[Axis][SortedIndex];
- CurrentEndPoint->Value = SortedCoord;
-// CurrentEndPoint->IsMax = SortedIndex&1; // ### could be implicit ?
-// CurrentEndPoint->ID = BoxIndex; // ### could be implicit ?
- CurrentEndPoint->SetData(BoxIndex, SortedIndex&1); // ### could be implicit ?
- CurrentEndPoint->Previous = PreviousEndPoint;
- CurrentEndPoint->Next = null;
- if(PreviousEndPoint) PreviousEndPoint->Next = CurrentEndPoint;
-
- if(CurrentEndPoint->IsMax()) mBoxes[BoxIndex].Max[Axis] = CurrentEndPoint;
- else mBoxes[BoxIndex].Min[Axis] = CurrentEndPoint;
-
- PreviousEndPoint = CurrentEndPoint;
- }
- }
-
- DELETEARRAY(Data);
-
- CheckListsIntegrity();
-
- // 2) Quickly find starting pairs
-
- mPairs.Init(nb_objects);
-
- {
- Pairs P;
- CompleteBoxPruning(nb_objects, boxes, P, Axes(AXES_XZY));
- for(udword i=0;i<P.GetNbPairs();i++)
- {
- const Pair* PP = P.GetPair(i);
-
- udword id0 = PP->id0;
- udword id1 = PP->id1;
-
- if(id0!=id1 && boxes[id0]->Intersect(*boxes[id1]))
- {
- mPairs.AddPair(id0, id1);
- }
- else ASSERT(0);
- }
- }
-
- return true;
-}
-
-bool SweepAndPrune::CheckListsIntegrity()
-{
- for(udword Axis=0;Axis<3;Axis++)
- {
- // Find list head
- SAP_EndPoint* Current = mList[Axis];
- while(Current->Previous) Current = Current->Previous;
-
- udword Nb = 0;
-
- SAP_EndPoint* Previous = null;
- while(Current)
- {
- Nb++;
-
- if(Previous)
- {
- ASSERT(Previous->Value <= Current->Value);
- if(Previous->Value > Current->Value) return false;
- }
-
- ASSERT(Current->Previous==Previous);
- if(Current->Previous!=Previous) return false;
-
- Previous = Current;
- Current = Current->Next;
- }
-
- ASSERT(Nb==mNbObjects*2);
- }
- return true;
-}
-
-inline_ BOOL Intersect(const AABB& a, const SAP_Box& b)
-{
- if(b.Max[0]->Value < a.GetMin(0) || a.GetMax(0) < b.Min[0]->Value
- || b.Max[1]->Value < a.GetMin(1) || a.GetMax(1) < b.Min[1]->Value
- || b.Max[2]->Value < a.GetMin(2) || a.GetMax(2) < b.Min[2]->Value) return FALSE;
-
- return TRUE;
-}
-
-
-
-bool SweepAndPrune::UpdateObject(udword i, const AABB& box)
-{
- for(udword Axis=0;Axis<3;Axis++)
- {
-// udword Base = (udword)&mList[Axis][0];
-
- // Update min
- {
- SAP_EndPoint* const CurrentMin = mBoxes[i].Min[Axis];
- ASSERT(!CurrentMin->IsMax());
-
- const float Limit = box.GetMin(Axis);
- if(Limit == CurrentMin->Value)
- {
- }
- else if(Limit < CurrentMin->Value)
- {
- CurrentMin->Value = Limit;
-
- // Min is moving left:
- SAP_EndPoint* NewPos = CurrentMin;
- ASSERT(NewPos);
-
- SAP_EndPoint* tmp;
- while((tmp = NewPos->Previous) && tmp->Value > Limit)
- {
- NewPos = tmp;
-
- if(NewPos->IsMax())
- {
- // Our min passed a max => start overlap
- //udword SortedIndex = (udword(CurrentMin) - Base)/sizeof(NS_EndPoint);
- const udword id0 = CurrentMin->GetBoxID();
- const udword id1 = NewPos->GetBoxID();
-
- if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1);
- }
- }
-
- CurrentMin->InsertBefore(NewPos);
- }
- else// if(Limit > CurrentMin->Value)
- {
- CurrentMin->Value = Limit;
-
- // Min is moving right:
- SAP_EndPoint* NewPos = CurrentMin;
- ASSERT(NewPos);
-
- SAP_EndPoint* tmp;
- while((tmp = NewPos->Next) && tmp->Value < Limit)
- {
- NewPos = tmp;
-
- if(NewPos->IsMax())
- {
- // Our min passed a max => stop overlap
- const udword id0 = CurrentMin->GetBoxID();
- const udword id1 = NewPos->GetBoxID();
-
- if(id0!=id1) mPairs.RemovePair(id0, id1);
- }
- }
-
- CurrentMin->InsertAfter(NewPos);
- }
- }
-
- // Update max
- {
- SAP_EndPoint* const CurrentMax = mBoxes[i].Max[Axis];
- ASSERT(CurrentMax->IsMax());
-
- const float Limit = box.GetMax(Axis);
- if(Limit == CurrentMax->Value)
- {
- }
- else if(Limit > CurrentMax->Value)
- {
- CurrentMax->Value = Limit;
-
- // Max is moving right:
- SAP_EndPoint* NewPos = CurrentMax;
- ASSERT(NewPos);
-
- SAP_EndPoint* tmp;
- while((tmp = NewPos->Next) && tmp->Value < Limit)
- {
- NewPos = tmp;
-
- if(!NewPos->IsMax())
- {
- // Our max passed a min => start overlap
- const udword id0 = CurrentMax->GetBoxID();
- const udword id1 = NewPos->GetBoxID();
-
- if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1);
- }
- }
-
- CurrentMax->InsertAfter(NewPos);
- }
- else// if(Limit < CurrentMax->Value)
- {
- CurrentMax->Value = Limit;
-
- // Max is moving left:
- SAP_EndPoint* NewPos = CurrentMax;
- ASSERT(NewPos);
-
- SAP_EndPoint* tmp;
- while((tmp = NewPos->Previous) && tmp->Value > Limit)
- {
- NewPos = tmp;
-
- if(!NewPos->IsMax())
- {
- // Our max passed a min => stop overlap
- const udword id0 = CurrentMax->GetBoxID();
- const udword id1 = NewPos->GetBoxID();
-
- if(id0!=id1) mPairs.RemovePair(id0, id1);
- }
- }
-
- CurrentMax->InsertBefore(NewPos);
- }
- }
- }
-
- return true;
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains an implementation of the sweep-and-prune algorithm (moved from Z-Collide) + * \file OPC_SweepAndPrune.cpp + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +inline_ void Sort(udword& id0, udword& id1) +{ + if(id0>id1) Swap(id0, id1); +} + + class Opcode::SAP_Element + { + public: + inline_ SAP_Element() {} + inline_ SAP_Element(udword id, SAP_Element* next) : mID(id), mNext(next) {} + inline_ ~SAP_Element() {} + + udword mID; + SAP_Element* mNext; + }; + + class Opcode::SAP_Box + { + public: + SAP_EndPoint* Min[3]; + SAP_EndPoint* Max[3]; + }; + + class Opcode::SAP_EndPoint + { + public: + float Value; // Min or Max value + SAP_EndPoint* Previous; // Previous EndPoint whose Value is smaller than ours (or null) + SAP_EndPoint* Next; // Next EndPoint whose Value is greater than ours (or null) + udword Data; // Parent box ID *2 | MinMax flag + + inline_ void SetData(udword box_id, BOOL is_max) { Data = (box_id<<1)|is_max; } + inline_ BOOL IsMax() const { return Data & 1; } + inline_ udword GetBoxID() const { return Data>>1; } + + inline_ void InsertAfter(SAP_EndPoint* element) + { + if(this!=element && this!=element->Next) + { + // Remove + if(Previous) Previous->Next = Next; + if(Next) Next->Previous = Previous; + + // Insert + Next = element->Next; + if(Next) Next->Previous = this; + + element->Next = this; + Previous = element; + } + } + + inline_ void InsertBefore(SAP_EndPoint* element) + { + if(this!=element && this!=element->Previous) + { + // Remove + if(Previous) Previous->Next = Next; + if(Next) Next->Previous = Previous; + + // Insert + Previous = element->Previous; + element->Previous = this; + + Next = element; + if(Previous) Previous->Next = this; + } + } + }; + + + + + + + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +SAP_PairData::SAP_PairData() : + mNbElements (0), + mNbUsedElements (0), + mElementPool (null), + mFirstFree (null), + mNbObjects (0), + mArray (null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +SAP_PairData::~SAP_PairData() +{ + Release(); +} + +void SAP_PairData::Release() +{ + mNbElements = 0; + mNbUsedElements = 0; + mNbObjects = 0; + DELETEARRAY(mElementPool); + DELETEARRAY(mArray); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Initializes. + * \param nb_objects [in] + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool SAP_PairData::Init(udword nb_objects) +{ + // Make sure everything has been released + Release(); + if(!nb_objects) return false; + + mArray = new SAP_Element*[nb_objects]; + CHECKALLOC(mArray); + ZeroMemory(mArray, nb_objects*sizeof(SAP_Element*)); + mNbObjects = nb_objects; + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Remaps a pointer when pool gets resized. + * \param element [in/out] remapped element + * \param delta [in] offset in bytes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ void Remap(SAP_Element*& element, udword delta) +{ + if(element) element = (SAP_Element*)(udword(element) + delta); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets a free element in the pool. + * \param id [in] element id + * \param next [in] next element + * \param remap [out] possible remapping offset + * \return the new element + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +SAP_Element* SAP_PairData::GetFreeElem(udword id, SAP_Element* next, udword* remap) +{ + if(remap) *remap = 0; + + SAP_Element* FreeElem; + if(mFirstFree) + { + // Recycle + FreeElem = mFirstFree; + mFirstFree = mFirstFree->mNext; // First free = next free (or null) + } + else + { + if(mNbUsedElements==mNbElements) + { + // Resize + mNbElements = mNbElements ? (mNbElements<<1) : 2; + + SAP_Element* NewElems = new SAP_Element[mNbElements]; + + if(mNbUsedElements) CopyMemory(NewElems, mElementPool, mNbUsedElements*sizeof(SAP_Element)); + + // Remap everything + { + udword Delta = udword(NewElems) - udword(mElementPool); + + for(udword i=0;i<mNbUsedElements;i++) Remap(NewElems[i].mNext, Delta); + for(udword i=0;i<mNbObjects;i++) Remap(mArray[i], Delta); + + Remap(mFirstFree, Delta); + Remap(next, Delta); + + if(remap) *remap = Delta; + } + + DELETEARRAY(mElementPool); + mElementPool = NewElems; + } + + FreeElem = &mElementPool[mNbUsedElements++]; + } + + FreeElem->mID = id; + FreeElem->mNext = next; + + return FreeElem; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Frees an element of the pool. + * \param elem [in] element to free/recycle + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ void SAP_PairData::FreeElem(SAP_Element* elem) +{ + elem->mNext = mFirstFree; // Next free + mFirstFree = elem; +} + +// Add a pair to the set. +void SAP_PairData::AddPair(udword id1, udword id2) +{ + // Order the ids + Sort(id1, id2); + + ASSERT(id1<mNbObjects); + if(id1>=mNbObjects) return; + + // Select the right list from "mArray". + SAP_Element* Current = mArray[id1]; + + if(!Current) + { + // Empty slot => create new element + mArray[id1] = GetFreeElem(id2, null); + } + else if(Current->mID>id2) + { + // The list is not empty but all elements are greater than id2 => insert id2 in the front. + mArray[id1] = GetFreeElem(id2, mArray[id1]); + } + else + { + // Else find the correct location in the sorted list (ascending order) and insert id2 there. + while(Current->mNext) + { + if(Current->mNext->mID > id2) break; + + Current = Current->mNext; + } + + if(Current->mID==id2) return; // The pair already exists + +// Current->mNext = GetFreeElem(id2, Current->mNext); + udword Delta; + SAP_Element* E = GetFreeElem(id2, Current->mNext, &Delta); + if(Delta) Remap(Current, Delta); + Current->mNext = E; + } +} + +// Delete a pair from the set. +void SAP_PairData::RemovePair(udword id1, udword id2) +{ + // Order the ids. + Sort(id1, id2); + + // Exit if the pair doesn't exist in the set + if(id1>=mNbObjects) return; + + // Otherwise, select the correct list. + SAP_Element* Current = mArray[id1]; + + // If this list is empty, the pair doesn't exist. + if(!Current) return; + + // Otherwise, if id2 is the first element, delete it. + if(Current->mID==id2) + { + mArray[id1] = Current->mNext; + FreeElem(Current); + } + else + { + // If id2 is not the first element, start traversing the sorted list. + while(Current->mNext) + { + // If we have moved too far away without hitting id2, then the pair doesn't exist + if(Current->mNext->mID > id2) return; + + // Otherwise, delete id2. + if(Current->mNext->mID == id2) + { + SAP_Element* Temp = Current->mNext; + Current->mNext = Temp->mNext; + FreeElem(Temp); + return; + } + Current = Current->mNext; + } + } +} + +void SAP_PairData::DumpPairs(Pairs& pairs) const +{ + // ### Ugly and slow + for(udword i=0;i<mNbObjects;i++) + { + SAP_Element* Current = mArray[i]; + while(Current) + { + ASSERT(Current->mID<mNbObjects); + + pairs.AddPair(i, Current->mID); + Current = Current->mNext; + } + } +} + +void SAP_PairData::DumpPairs(PairCallback callback, void* user_data) const +{ + if(!callback) return; + + // ### Ugly and slow + for(udword i=0;i<mNbObjects;i++) + { + SAP_Element* Current = mArray[i]; + while(Current) + { + ASSERT(Current->mID<mNbObjects); + + if(!(callback)(i, Current->mID, user_data)) return; + Current = Current->mNext; + } + } +} + + + + + + + + + + + + + + + + + + + + + + + + + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +SweepAndPrune::SweepAndPrune() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +SweepAndPrune::~SweepAndPrune() +{ +} + +void SweepAndPrune::GetPairs(Pairs& pairs) const +{ + mPairs.DumpPairs(pairs); +} + +void SweepAndPrune::GetPairs(PairCallback callback, void* user_data) const +{ + mPairs.DumpPairs(callback, user_data); +} + +bool SweepAndPrune::Init(udword nb_objects, const AABB** boxes) +{ + // 1) Create sorted lists + mNbObjects = nb_objects; + + mBoxes = new SAP_Box[nb_objects]; +// for(udword i=0;i<nb_objects;i++) mBoxes[i].Box = *boxes[i]; + + float* Data = new float[nb_objects*2]; + + for(udword Axis=0;Axis<3;Axis++) + { + mList[Axis] = new SAP_EndPoint[nb_objects*2]; + + for(udword i=0;i<nb_objects;i++) + { + Data[i*2+0] = boxes[i]->GetMin(Axis); + Data[i*2+1] = boxes[i]->GetMax(Axis); + } + RadixSort RS; + const udword* Sorted = RS.Sort(Data, nb_objects*2).GetRanks(); + + SAP_EndPoint* PreviousEndPoint = null; + + for(udword i=0;i<nb_objects*2;i++) + { + udword SortedIndex = *Sorted++; + float SortedCoord = Data[SortedIndex]; + udword BoxIndex = SortedIndex>>1; + + ASSERT(BoxIndex<nb_objects); + + SAP_EndPoint* CurrentEndPoint = &mList[Axis][SortedIndex]; + CurrentEndPoint->Value = SortedCoord; +// CurrentEndPoint->IsMax = SortedIndex&1; // ### could be implicit ? +// CurrentEndPoint->ID = BoxIndex; // ### could be implicit ? + CurrentEndPoint->SetData(BoxIndex, SortedIndex&1); // ### could be implicit ? + CurrentEndPoint->Previous = PreviousEndPoint; + CurrentEndPoint->Next = null; + if(PreviousEndPoint) PreviousEndPoint->Next = CurrentEndPoint; + + if(CurrentEndPoint->IsMax()) mBoxes[BoxIndex].Max[Axis] = CurrentEndPoint; + else mBoxes[BoxIndex].Min[Axis] = CurrentEndPoint; + + PreviousEndPoint = CurrentEndPoint; + } + } + + DELETEARRAY(Data); + + CheckListsIntegrity(); + + // 2) Quickly find starting pairs + + mPairs.Init(nb_objects); + + { + Pairs P; + CompleteBoxPruning(nb_objects, boxes, P, Axes(AXES_XZY)); + for(udword i=0;i<P.GetNbPairs();i++) + { + const Pair* PP = P.GetPair(i); + + udword id0 = PP->id0; + udword id1 = PP->id1; + + if(id0!=id1 && boxes[id0]->Intersect(*boxes[id1])) + { + mPairs.AddPair(id0, id1); + } + else ASSERT(0); + } + } + + return true; +} + +bool SweepAndPrune::CheckListsIntegrity() +{ + for(udword Axis=0;Axis<3;Axis++) + { + // Find list head + SAP_EndPoint* Current = mList[Axis]; + while(Current->Previous) Current = Current->Previous; + + udword Nb = 0; + + SAP_EndPoint* Previous = null; + while(Current) + { + Nb++; + + if(Previous) + { + ASSERT(Previous->Value <= Current->Value); + if(Previous->Value > Current->Value) return false; + } + + ASSERT(Current->Previous==Previous); + if(Current->Previous!=Previous) return false; + + Previous = Current; + Current = Current->Next; + } + + ASSERT(Nb==mNbObjects*2); + } + return true; +} + +inline_ BOOL Intersect(const AABB& a, const SAP_Box& b) +{ + if(b.Max[0]->Value < a.GetMin(0) || a.GetMax(0) < b.Min[0]->Value + || b.Max[1]->Value < a.GetMin(1) || a.GetMax(1) < b.Min[1]->Value + || b.Max[2]->Value < a.GetMin(2) || a.GetMax(2) < b.Min[2]->Value) return FALSE; + + return TRUE; +} + + + +bool SweepAndPrune::UpdateObject(udword i, const AABB& box) +{ + for(udword Axis=0;Axis<3;Axis++) + { +// udword Base = (udword)&mList[Axis][0]; + + // Update min + { + SAP_EndPoint* const CurrentMin = mBoxes[i].Min[Axis]; + ASSERT(!CurrentMin->IsMax()); + + const float Limit = box.GetMin(Axis); + if(Limit == CurrentMin->Value) + { + } + else if(Limit < CurrentMin->Value) + { + CurrentMin->Value = Limit; + + // Min is moving left: + SAP_EndPoint* NewPos = CurrentMin; + ASSERT(NewPos); + + SAP_EndPoint* tmp; + while((tmp = NewPos->Previous) && tmp->Value > Limit) + { + NewPos = tmp; + + if(NewPos->IsMax()) + { + // Our min passed a max => start overlap + //udword SortedIndex = (udword(CurrentMin) - Base)/sizeof(NS_EndPoint); + const udword id0 = CurrentMin->GetBoxID(); + const udword id1 = NewPos->GetBoxID(); + + if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1); + } + } + + CurrentMin->InsertBefore(NewPos); + } + else// if(Limit > CurrentMin->Value) + { + CurrentMin->Value = Limit; + + // Min is moving right: + SAP_EndPoint* NewPos = CurrentMin; + ASSERT(NewPos); + + SAP_EndPoint* tmp; + while((tmp = NewPos->Next) && tmp->Value < Limit) + { + NewPos = tmp; + + if(NewPos->IsMax()) + { + // Our min passed a max => stop overlap + const udword id0 = CurrentMin->GetBoxID(); + const udword id1 = NewPos->GetBoxID(); + + if(id0!=id1) mPairs.RemovePair(id0, id1); + } + } + + CurrentMin->InsertAfter(NewPos); + } + } + + // Update max + { + SAP_EndPoint* const CurrentMax = mBoxes[i].Max[Axis]; + ASSERT(CurrentMax->IsMax()); + + const float Limit = box.GetMax(Axis); + if(Limit == CurrentMax->Value) + { + } + else if(Limit > CurrentMax->Value) + { + CurrentMax->Value = Limit; + + // Max is moving right: + SAP_EndPoint* NewPos = CurrentMax; + ASSERT(NewPos); + + SAP_EndPoint* tmp; + while((tmp = NewPos->Next) && tmp->Value < Limit) + { + NewPos = tmp; + + if(!NewPos->IsMax()) + { + // Our max passed a min => start overlap + const udword id0 = CurrentMax->GetBoxID(); + const udword id1 = NewPos->GetBoxID(); + + if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1); + } + } + + CurrentMax->InsertAfter(NewPos); + } + else// if(Limit < CurrentMax->Value) + { + CurrentMax->Value = Limit; + + // Max is moving left: + SAP_EndPoint* NewPos = CurrentMax; + ASSERT(NewPos); + + SAP_EndPoint* tmp; + while((tmp = NewPos->Previous) && tmp->Value > Limit) + { + NewPos = tmp; + + if(!NewPos->IsMax()) + { + // Our max passed a min => stop overlap + const udword id0 = CurrentMax->GetBoxID(); + const udword id1 = NewPos->GetBoxID(); + + if(id0!=id1) mPairs.RemovePair(id0, id1); + } + } + + CurrentMax->InsertBefore(NewPos); + } + } + } + + return true; +} diff --git a/Opcode/OPC_SweepAndPrune.h b/Opcode/OPC_SweepAndPrune.h index 5cf7956..cbb87ac 100644 --- a/Opcode/OPC_SweepAndPrune.h +++ b/Opcode/OPC_SweepAndPrune.h @@ -1,86 +1,86 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains an implementation of the sweep-and-prune algorithm (moved from Z-Collide)
- * \file OPC_SweepAndPrune.h
- * \author Pierre Terdiman
- * \date January, 29, 2000
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_SWEEPANDPRUNE_H__
-#define __OPC_SWEEPANDPRUNE_H__
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * User-callback, called by OPCODE for each colliding pairs.
- * \param id0 [in] id of colliding object
- * \param id1 [in] id of colliding object
- * \param user_data [in] user-defined data
- * \return TRUE to continue enumeration
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- typedef BOOL (*PairCallback) (udword id0, udword id1, void* user_data);
-
- class SAP_Element;
- class SAP_EndPoint;
- class SAP_Box;
-
- class OPCODE_API SAP_PairData
- {
- public:
- SAP_PairData();
- ~SAP_PairData();
-
- bool Init(udword nb_objects);
-
- void AddPair(udword id1, udword id2);
- void RemovePair(udword id1, udword id2);
-
- void DumpPairs(Pairs& pairs) const;
- void DumpPairs(PairCallback callback, void* user_data) const;
- private:
- udword mNbElements; //!< Total number of elements in the pool
- udword mNbUsedElements; //!< Number of used elements
- SAP_Element* mElementPool; //!< Array of mNbElements elements
- SAP_Element* mFirstFree; //!< First free element in the pool
-
- udword mNbObjects; //!< Max number of objects we can handle
- SAP_Element** mArray; //!< Pointers to pool
- // Internal methods
- SAP_Element* GetFreeElem(udword id, SAP_Element* next, udword* remap=null);
- inline_ void FreeElem(SAP_Element* elem);
- void Release();
- };
-
- class OPCODE_API SweepAndPrune
- {
- public:
- SweepAndPrune();
- ~SweepAndPrune();
-
- bool Init(udword nb_objects, const AABB** boxes);
- bool UpdateObject(udword i, const AABB& box);
-
- void GetPairs(Pairs& pairs) const;
- void GetPairs(PairCallback callback, void* user_data) const;
- private:
- SAP_PairData mPairs;
-
- udword mNbObjects;
- SAP_Box* mBoxes;
- SAP_EndPoint* mList[3];
- // Internal methods
- bool CheckListsIntegrity();
- };
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains an implementation of the sweep-and-prune algorithm (moved from Z-Collide) + * \file OPC_SweepAndPrune.h + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_SWEEPANDPRUNE_H__ +#define __OPC_SWEEPANDPRUNE_H__ + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * User-callback, called by OPCODE for each colliding pairs. + * \param id0 [in] id of colliding object + * \param id1 [in] id of colliding object + * \param user_data [in] user-defined data + * \return TRUE to continue enumeration + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + typedef BOOL (*PairCallback) (udword id0, udword id1, void* user_data); + + class SAP_Element; + class SAP_EndPoint; + class SAP_Box; + + class OPCODE_API SAP_PairData + { + public: + SAP_PairData(); + ~SAP_PairData(); + + bool Init(udword nb_objects); + + void AddPair(udword id1, udword id2); + void RemovePair(udword id1, udword id2); + + void DumpPairs(Pairs& pairs) const; + void DumpPairs(PairCallback callback, void* user_data) const; + private: + udword mNbElements; //!< Total number of elements in the pool + udword mNbUsedElements; //!< Number of used elements + SAP_Element* mElementPool; //!< Array of mNbElements elements + SAP_Element* mFirstFree; //!< First free element in the pool + + udword mNbObjects; //!< Max number of objects we can handle + SAP_Element** mArray; //!< Pointers to pool + // Internal methods + SAP_Element* GetFreeElem(udword id, SAP_Element* next, udword* remap=null); + inline_ void FreeElem(SAP_Element* elem); + void Release(); + }; + + class OPCODE_API SweepAndPrune + { + public: + SweepAndPrune(); + ~SweepAndPrune(); + + bool Init(udword nb_objects, const AABB** boxes); + bool UpdateObject(udword i, const AABB& box); + + void GetPairs(Pairs& pairs) const; + void GetPairs(PairCallback callback, void* user_data) const; + private: + SAP_PairData mPairs; + + udword mNbObjects; + SAP_Box* mBoxes; + SAP_EndPoint* mList[3]; + // Internal methods + bool CheckListsIntegrity(); + }; + #endif //__OPC_SWEEPANDPRUNE_H__
\ No newline at end of file diff --git a/Opcode/OPC_TreeBuilders.cpp b/Opcode/OPC_TreeBuilders.cpp index 600f08b..89dd93b 100644 --- a/Opcode/OPC_TreeBuilders.cpp +++ b/Opcode/OPC_TreeBuilders.cpp @@ -1,255 +1,255 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for tree builders.
- * \file OPC_TreeBuilders.cpp
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * A builder for AABB-trees of vertices.
- *
- * \class AABBTreeOfVerticesBuilder
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * A builder for AABB-trees of AABBs.
- *
- * \class AABBTreeOfAABBsBuilder
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * A builder for AABB-trees of triangles.
- *
- * \class AABBTreeOfTrianglesBuilder
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the AABB of a set of primitives.
- * \param primitives [in] list of indices of primitives
- * \param nb_prims [in] number of indices
- * \param global_box [out] global AABB enclosing the set of input primitives
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeOfAABBsBuilder::ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const
-{
- // Checkings
- if(!primitives || !nb_prims) return false;
-
- // Initialize global box
- global_box = mAABBArray[primitives[0]];
-
- // Loop through boxes
- for(udword i=1;i<nb_prims;i++)
- {
- // Update global box
- global_box.Add(mAABBArray[primitives[i]]);
- }
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the splitting value along a given axis for a given primitive.
- * \param index [in] index of the primitive to split
- * \param axis [in] axis index (0,1,2)
- * \return splitting value
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float AABBTreeOfAABBsBuilder::GetSplittingValue(udword index, udword axis) const
-{
- // For an AABB, the splitting value is the middle of the given axis,
- // i.e. the corresponding component of the center IcePoint
- return mAABBArray[index].GetCenter(axis);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the AABB of a set of primitives.
- * \param primitives [in] list of indices of primitives
- * \param nb_prims [in] number of indices
- * \param global_box [out] global AABB enclosing the set of input primitives
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeOfTrianglesBuilder::ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const
-{
- // Checkings
- if(!primitives || !nb_prims) return false;
-
- // Initialize global box
- IcePoint Min(MAX_FLOAT, MAX_FLOAT, MAX_FLOAT);
- IcePoint Max(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT);
-
- // Loop through triangles
- VertexPointers VP;
- while(nb_prims--)
- {
- // Get current triangle-vertices
- mIMesh->GetTriangle(VP, *primitives++);
- // Update global box
- Min.Min(*VP.Vertex[0]).Min(*VP.Vertex[1]).Min(*VP.Vertex[2]);
- Max.Max(*VP.Vertex[0]).Max(*VP.Vertex[1]).Max(*VP.Vertex[2]);
- }
- global_box.SetMinMax(Min, Max);
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the splitting value along a given axis for a given primitive.
- * \param index [in] index of the primitive to split
- * \param axis [in] axis index (0,1,2)
- * \return splitting value
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float AABBTreeOfTrianglesBuilder::GetSplittingValue(udword index, udword axis) const
-{
-/* // Compute center of triangle
- IcePoint Center;
- mTriList[index].Center(mVerts, Center);
- // Return value
- return Center[axis];*/
-
- // Compute correct component from center of triangle
-// return (mVerts[mTriList[index].mVRef[0]][axis]
-// +mVerts[mTriList[index].mVRef[1]][axis]
-// +mVerts[mTriList[index].mVRef[2]][axis])*INV3;
-
- VertexPointers VP;
- mIMesh->GetTriangle(VP, index);
-
- // Compute correct component from center of triangle
- return ((*VP.Vertex[0])[axis]
- +(*VP.Vertex[1])[axis]
- +(*VP.Vertex[2])[axis])*INV3;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the splitting value along a given axis for a given node.
- * \param primitives [in] list of indices of primitives
- * \param nb_prims [in] number of indices
- * \param global_box [in] global AABB enclosing the set of input primitives
- * \param axis [in] axis index (0,1,2)
- * \return splitting value
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float AABBTreeOfTrianglesBuilder::GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const
-{
- if(mSettings.mRules&SPLIT_GEOM_CENTER)
- {
- // Loop through triangles
- float SplitValue = 0.0f;
- VertexPointers VP;
- for(udword i=0;i<nb_prims;i++)
- {
- // Get current triangle-vertices
- mIMesh->GetTriangle(VP, primitives[i]);
- // Update split value
- SplitValue += (*VP.Vertex[0])[axis];
- SplitValue += (*VP.Vertex[1])[axis];
- SplitValue += (*VP.Vertex[2])[axis];
- }
- return SplitValue / float(nb_prims*3);
- }
- else return AABBTreeBuilder::GetSplittingValue(primitives, nb_prims, global_box, axis);
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the AABB of a set of primitives.
- * \param primitives [in] list of indices of primitives
- * \param nb_prims [in] number of indices
- * \param global_box [out] global AABB enclosing the set of input primitives
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeOfVerticesBuilder::ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const
-{
- // Checkings
- if(!primitives || !nb_prims) return false;
-
- // Initialize global box
- global_box.SetEmpty();
-
- // Loop through vertices
- for(udword i=0;i<nb_prims;i++)
- {
- // Update global box
- global_box.Extend(mVertexArray[primitives[i]]);
- }
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the splitting value along a given axis for a given primitive.
- * \param index [in] index of the primitive to split
- * \param axis [in] axis index (0,1,2)
- * \return splitting value
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float AABBTreeOfVerticesBuilder::GetSplittingValue(udword index, udword axis) const
-{
- // For a vertex, the splitting value is simply the vertex coordinate.
- return mVertexArray[index][axis];
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Computes the splitting value along a given axis for a given node.
- * \param primitives [in] list of indices of primitives
- * \param nb_prims [in] number of indices
- * \param global_box [in] global AABB enclosing the set of input primitives
- * \param axis [in] axis index (0,1,2)
- * \return splitting value
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-float AABBTreeOfVerticesBuilder::GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const
-{
- if(mSettings.mRules&SPLIT_GEOM_CENTER)
- {
- // Loop through vertices
- float SplitValue = 0.0f;
- for(udword i=0;i<nb_prims;i++)
- {
- // Update split value
- SplitValue += mVertexArray[primitives[i]][axis];
- }
- return SplitValue / float(nb_prims);
- }
- else return AABBTreeBuilder::GetSplittingValue(primitives, nb_prims, global_box, axis);
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for tree builders. + * \file OPC_TreeBuilders.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A builder for AABB-trees of vertices. + * + * \class AABBTreeOfVerticesBuilder + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A builder for AABB-trees of AABBs. + * + * \class AABBTreeOfAABBsBuilder + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A builder for AABB-trees of triangles. + * + * \class AABBTreeOfTrianglesBuilder + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the AABB of a set of primitives. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [out] global AABB enclosing the set of input primitives + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeOfAABBsBuilder::ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const +{ + // Checkings + if(!primitives || !nb_prims) return false; + + // Initialize global box + global_box = mAABBArray[primitives[0]]; + + // Loop through boxes + for(udword i=1;i<nb_prims;i++) + { + // Update global box + global_box.Add(mAABBArray[primitives[i]]); + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfAABBsBuilder::GetSplittingValue(udword index, udword axis) const +{ + // For an AABB, the splitting value is the middle of the given axis, + // i.e. the corresponding component of the center IcePoint + return mAABBArray[index].GetCenter(axis); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the AABB of a set of primitives. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [out] global AABB enclosing the set of input primitives + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeOfTrianglesBuilder::ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const +{ + // Checkings + if(!primitives || !nb_prims) return false; + + // Initialize global box + IcePoint Min(MAX_FLOAT, MAX_FLOAT, MAX_FLOAT); + IcePoint Max(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); + + // Loop through triangles + VertexPointers VP; + while(nb_prims--) + { + // Get current triangle-vertices + mIMesh->GetTriangle(VP, *primitives++); + // Update global box + Min.Min(*VP.Vertex[0]).Min(*VP.Vertex[1]).Min(*VP.Vertex[2]); + Max.Max(*VP.Vertex[0]).Max(*VP.Vertex[1]).Max(*VP.Vertex[2]); + } + global_box.SetMinMax(Min, Max); + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfTrianglesBuilder::GetSplittingValue(udword index, udword axis) const +{ +/* // Compute center of triangle + IcePoint Center; + mTriList[index].Center(mVerts, Center); + // Return value + return Center[axis];*/ + + // Compute correct component from center of triangle +// return (mVerts[mTriList[index].mVRef[0]][axis] +// +mVerts[mTriList[index].mVRef[1]][axis] +// +mVerts[mTriList[index].mVRef[2]][axis])*INV3; + + VertexPointers VP; + mIMesh->GetTriangle(VP, index); + + // Compute correct component from center of triangle + return ((*VP.Vertex[0])[axis] + +(*VP.Vertex[1])[axis] + +(*VP.Vertex[2])[axis])*INV3; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given node. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfTrianglesBuilder::GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const +{ + if(mSettings.mRules&SPLIT_GEOM_CENTER) + { + // Loop through triangles + float SplitValue = 0.0f; + VertexPointers VP; + for(udword i=0;i<nb_prims;i++) + { + // Get current triangle-vertices + mIMesh->GetTriangle(VP, primitives[i]); + // Update split value + SplitValue += (*VP.Vertex[0])[axis]; + SplitValue += (*VP.Vertex[1])[axis]; + SplitValue += (*VP.Vertex[2])[axis]; + } + return SplitValue / float(nb_prims*3); + } + else return AABBTreeBuilder::GetSplittingValue(primitives, nb_prims, global_box, axis); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the AABB of a set of primitives. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [out] global AABB enclosing the set of input primitives + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeOfVerticesBuilder::ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const +{ + // Checkings + if(!primitives || !nb_prims) return false; + + // Initialize global box + global_box.SetEmpty(); + + // Loop through vertices + for(udword i=0;i<nb_prims;i++) + { + // Update global box + global_box.Extend(mVertexArray[primitives[i]]); + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfVerticesBuilder::GetSplittingValue(udword index, udword axis) const +{ + // For a vertex, the splitting value is simply the vertex coordinate. + return mVertexArray[index][axis]; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given node. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfVerticesBuilder::GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const +{ + if(mSettings.mRules&SPLIT_GEOM_CENTER) + { + // Loop through vertices + float SplitValue = 0.0f; + for(udword i=0;i<nb_prims;i++) + { + // Update split value + SplitValue += mVertexArray[primitives[i]][axis]; + } + return SplitValue / float(nb_prims); + } + else return AABBTreeBuilder::GetSplittingValue(primitives, nb_prims, global_box, axis); +} diff --git a/Opcode/OPC_TreeBuilders.h b/Opcode/OPC_TreeBuilders.h index bfff16a..811e81d 100644 --- a/Opcode/OPC_TreeBuilders.h +++ b/Opcode/OPC_TreeBuilders.h @@ -1,173 +1,173 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for tree builders.
- * \file OPC_TreeBuilders.h
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_TREEBUILDERS_H__
-#define __OPC_TREEBUILDERS_H__
-
- //! Tree splitting rules
- enum SplittingRules
- {
- // Primitive split
- SPLIT_LARGEST_AXIS = (1<<0), //!< Split along the largest axis
- SPLIT_SPLATTER_POINTS = (1<<1), //!< Splatter primitive centers (QuickCD-style)
- SPLIT_BEST_AXIS = (1<<2), //!< Try largest axis, then second, then last
- SPLIT_BALANCED = (1<<3), //!< Try to keep a well-balanced tree
- SPLIT_FIFTY = (1<<4), //!< Arbitrary 50-50 split
- // Node split
- SPLIT_GEOM_CENTER = (1<<5), //!< Split at geometric center (else split in the middle)
- //
- SPLIT_FORCE_DWORD = 0x7fffffff
- };
-
- //! Simple wrapper around build-related settings [Opcode 1.3]
- struct OPCODE_API BuildSettings
- {
- inline_ BuildSettings() : mLimit(1), mRules(SPLIT_FORCE_DWORD) {}
-
- udword mLimit; //!< Limit number of primitives / node. If limit is 1, build a complete tree (2*N-1 nodes)
- udword mRules; //!< Building/Splitting rules (a combination of SplittingRules flags)
- };
-
- class OPCODE_API AABBTreeBuilder
- {
- public:
- //! Constructor
- AABBTreeBuilder() :
- mNbPrimitives(0),
- mNodeBase(null),
- mCount(0),
- mNbInvalidSplits(0) {}
- //! Destructor
- virtual ~AABBTreeBuilder() {}
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes the AABB of a set of primitives.
- * \param primitives [in] list of indices of primitives
- * \param nb_prims [in] number of indices
- * \param global_box [out] global AABB enclosing the set of input primitives
- * \return true if success
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const = 0;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes the splitting value along a given axis for a given primitive.
- * \param index [in] index of the primitive to split
- * \param axis [in] axis index (0,1,2)
- * \return splitting value
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual float GetSplittingValue(udword index, udword axis) const = 0;
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Computes the splitting value along a given axis for a given node.
- * \param primitives [in] list of indices of primitives
- * \param nb_prims [in] number of indices
- * \param global_box [in] global AABB enclosing the set of input primitives
- * \param axis [in] axis index (0,1,2)
- * \return splitting value
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual float GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const
- {
- // Default split value = middle of the axis (using only the box)
- return global_box.GetCenter(axis);
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Validates node subdivision. This is called each time a node is considered for subdivision, during tree building.
- * \param primitives [in] list of indices of primitives
- * \param nb_prims [in] number of indices
- * \param global_box [in] global AABB enclosing the set of input primitives
- * \return TRUE if the node should be subdivised
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- virtual BOOL ValidateSubdivision(const udword* primitives, udword nb_prims, const AABB& global_box)
- {
- // Check the user-defined limit
- if(nb_prims<=mSettings.mLimit) return FALSE;
-
- return TRUE;
- }
-
- BuildSettings mSettings; //!< Splitting rules & split limit [Opcode 1.3]
- udword mNbPrimitives; //!< Total number of primitives.
- void* mNodeBase; //!< Address of node pool [Opcode 1.3]
- // Stats
- inline_ void SetCount(udword nb) { mCount=nb; }
- inline_ void IncreaseCount(udword nb) { mCount+=nb; }
- inline_ udword GetCount() const { return mCount; }
- inline_ void SetNbInvalidSplits(udword nb) { mNbInvalidSplits=nb; }
- inline_ void IncreaseNbInvalidSplits() { mNbInvalidSplits++; }
- inline_ udword GetNbInvalidSplits() const { return mNbInvalidSplits; }
-
- private:
- udword mCount; //!< Stats: number of nodes created
- udword mNbInvalidSplits; //!< Stats: number of invalid splits
- };
-
- class OPCODE_API AABBTreeOfVerticesBuilder : public AABBTreeBuilder
- {
- public:
- //! Constructor
- AABBTreeOfVerticesBuilder() : mVertexArray(null) {}
- //! Destructor
- virtual ~AABBTreeOfVerticesBuilder() {}
-
- override(AABBTreeBuilder) bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const;
- override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const;
- override(AABBTreeBuilder) float GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const;
-
- const IcePoint* mVertexArray; //!< Shortcut to an app-controlled array of vertices.
- };
-
- class OPCODE_API AABBTreeOfAABBsBuilder : public AABBTreeBuilder
- {
- public:
- //! Constructor
- AABBTreeOfAABBsBuilder() : mAABBArray(null) {}
- //! Destructor
- virtual ~AABBTreeOfAABBsBuilder() {}
-
- override(AABBTreeBuilder) bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const;
- override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const;
-
- const AABB* mAABBArray; //!< Shortcut to an app-controlled array of AABBs.
- };
-
- class OPCODE_API AABBTreeOfTrianglesBuilder : public AABBTreeBuilder
- {
- public:
- //! Constructor
- AABBTreeOfTrianglesBuilder() : mIMesh(null) {}
- //! Destructor
- virtual ~AABBTreeOfTrianglesBuilder() {}
-
- override(AABBTreeBuilder) bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const;
- override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const;
- override(AABBTreeBuilder) float GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const;
-
- const MeshInterface* mIMesh; //!< Shortcut to an app-controlled mesh interface
- };
-
-#endif // __OPC_TREEBUILDERS_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for tree builders. + * \file OPC_TreeBuilders.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_TREEBUILDERS_H__ +#define __OPC_TREEBUILDERS_H__ + + //! Tree splitting rules + enum SplittingRules + { + // Primitive split + SPLIT_LARGEST_AXIS = (1<<0), //!< Split along the largest axis + SPLIT_SPLATTER_POINTS = (1<<1), //!< Splatter primitive centers (QuickCD-style) + SPLIT_BEST_AXIS = (1<<2), //!< Try largest axis, then second, then last + SPLIT_BALANCED = (1<<3), //!< Try to keep a well-balanced tree + SPLIT_FIFTY = (1<<4), //!< Arbitrary 50-50 split + // Node split + SPLIT_GEOM_CENTER = (1<<5), //!< Split at geometric center (else split in the middle) + // + SPLIT_FORCE_DWORD = 0x7fffffff + }; + + //! Simple wrapper around build-related settings [Opcode 1.3] + struct OPCODE_API BuildSettings + { + inline_ BuildSettings() : mLimit(1), mRules(SPLIT_FORCE_DWORD) {} + + udword mLimit; //!< Limit number of primitives / node. If limit is 1, build a complete tree (2*N-1 nodes) + udword mRules; //!< Building/Splitting rules (a combination of SplittingRules flags) + }; + + class OPCODE_API AABBTreeBuilder + { + public: + //! Constructor + AABBTreeBuilder() : + mNbPrimitives(0), + mNodeBase(null), + mCount(0), + mNbInvalidSplits(0) {} + //! Destructor + virtual ~AABBTreeBuilder() {} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the AABB of a set of primitives. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [out] global AABB enclosing the set of input primitives + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual float GetSplittingValue(udword index, udword axis) const = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the splitting value along a given axis for a given node. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual float GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const + { + // Default split value = middle of the axis (using only the box) + return global_box.GetCenter(axis); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates node subdivision. This is called each time a node is considered for subdivision, during tree building. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \return TRUE if the node should be subdivised + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual BOOL ValidateSubdivision(const udword* primitives, udword nb_prims, const AABB& global_box) + { + // Check the user-defined limit + if(nb_prims<=mSettings.mLimit) return FALSE; + + return TRUE; + } + + BuildSettings mSettings; //!< Splitting rules & split limit [Opcode 1.3] + udword mNbPrimitives; //!< Total number of primitives. + void* mNodeBase; //!< Address of node pool [Opcode 1.3] + // Stats + inline_ void SetCount(udword nb) { mCount=nb; } + inline_ void IncreaseCount(udword nb) { mCount+=nb; } + inline_ udword GetCount() const { return mCount; } + inline_ void SetNbInvalidSplits(udword nb) { mNbInvalidSplits=nb; } + inline_ void IncreaseNbInvalidSplits() { mNbInvalidSplits++; } + inline_ udword GetNbInvalidSplits() const { return mNbInvalidSplits; } + + private: + udword mCount; //!< Stats: number of nodes created + udword mNbInvalidSplits; //!< Stats: number of invalid splits + }; + + class OPCODE_API AABBTreeOfVerticesBuilder : public AABBTreeBuilder + { + public: + //! Constructor + AABBTreeOfVerticesBuilder() : mVertexArray(null) {} + //! Destructor + virtual ~AABBTreeOfVerticesBuilder() {} + + override(AABBTreeBuilder) bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const; + override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; + override(AABBTreeBuilder) float GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const; + + const IcePoint* mVertexArray; //!< Shortcut to an app-controlled array of vertices. + }; + + class OPCODE_API AABBTreeOfAABBsBuilder : public AABBTreeBuilder + { + public: + //! Constructor + AABBTreeOfAABBsBuilder() : mAABBArray(null) {} + //! Destructor + virtual ~AABBTreeOfAABBsBuilder() {} + + override(AABBTreeBuilder) bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const; + override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; + + const AABB* mAABBArray; //!< Shortcut to an app-controlled array of AABBs. + }; + + class OPCODE_API AABBTreeOfTrianglesBuilder : public AABBTreeBuilder + { + public: + //! Constructor + AABBTreeOfTrianglesBuilder() : mIMesh(null) {} + //! Destructor + virtual ~AABBTreeOfTrianglesBuilder() {} + + override(AABBTreeBuilder) bool ComputeGlobalBox(const udword* primitives, udword nb_prims, AABB& global_box) const; + override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; + override(AABBTreeBuilder) float GetSplittingValue(const udword* primitives, udword nb_prims, const AABB& global_box, udword axis) const; + + const MeshInterface* mIMesh; //!< Shortcut to an app-controlled mesh interface + }; + +#endif // __OPC_TREEBUILDERS_H__ diff --git a/Opcode/OPC_TreeCollider.cpp b/Opcode/OPC_TreeCollider.cpp index 24b9e2a..490f5e2 100644 --- a/Opcode/OPC_TreeCollider.cpp +++ b/Opcode/OPC_TreeCollider.cpp @@ -1,943 +1,943 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for a tree collider.
- * \file OPC_TreeCollider.cpp
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains an AABB tree collider.
- * This class performs a collision test between two AABB trees.
- *
- * \class AABBTreeCollider
- * \author Pierre Terdiman
- * \version 1.3
- * \date March, 20, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-#include "OPC_BoxBoxOverlap.h"
-#include "OPC_TriBoxOverlap.h"
-#include "OPC_TriTriOverlap.h"
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBTreeCollider::AABBTreeCollider() :
- mNbBVBVTests (0),
- mNbPrimPrimTests (0),
- mNbBVPrimTests (0),
- mFullBoxBoxTest (true),
- mFullPrimBoxTest (true),
- mIMesh0 (null),
- mIMesh1 (null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBTreeCollider::~AABBTreeCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Validates current settings. You should call this method after all the settings and callbacks have been defined.
- * \return null if everything is ok, else a string describing the problem
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const char* AABBTreeCollider::ValidateSettings()
-{
- if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!";
- return null;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Generic collision query for generic OPCODE models. After the call, access the results with:
- * - GetContactStatus()
- * - GetNbPairs()
- * - GetPairs()
- *
- * \param cache [in] collision cache for model pointers and a colliding pair of primitives
- * \param world0 [in] world matrix for first object
- * \param world1 [in] world matrix for second object
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeCollider::Collide(BVTCache& cache, const Matrix4x4* world0, const Matrix4x4* world1)
-{
- // Checkings
- if(!cache.Model0 || !cache.Model1) return false;
- if(cache.Model0->HasLeafNodes()!=cache.Model1->HasLeafNodes()) return false;
- if(cache.Model0->IsQuantized()!=cache.Model1->IsQuantized()) return false;
-
- /*
-
- Rules:
- - perform hull test
- - when hulls collide, disable hull test
- - if meshes overlap, reset countdown
- - if countdown reaches 0, enable hull test
-
- */
-
-#ifdef __MESHMERIZER_H__
- // Handle hulls
- if(cache.HullTest)
- {
- if(cache.Model0->GetHull() && cache.Model1->GetHull())
- {
- struct Local
- {
- static IcePoint* SVCallback(const IcePoint& sv, udword& previndex, udword user_data)
- {
- CollisionHull* Hull = (CollisionHull*)user_data;
- previndex = Hull->ComputeSupportingVertex(sv, previndex);
- return (IcePoint*)&Hull->GetVerts()[previndex];
- }
- };
-
- bool Collide;
-
- if(0)
- {
- static GJKEngine GJK;
- static bool GJKInitDone=false;
- if(!GJKInitDone)
- {
- GJK.Enable(GJK_BACKUP_PROCEDURE);
- GJK.Enable(GJK_DEGENERATE);
- GJK.Enable(GJK_HILLCLIMBING);
- GJKInitDone = true;
- }
- GJK.SetCallbackObj0(Local::SVCallback);
- GJK.SetCallbackObj1(Local::SVCallback);
- GJK.SetUserData0(udword(cache.Model0->GetHull()));
- GJK.SetUserData1(udword(cache.Model1->GetHull()));
- Collide = GJK.Collide(*world0, *world1, &cache.SepVector);
- }
- else
- {
- static SVEngine SVE;
- SVE.SetCallbackObj0(Local::SVCallback);
- SVE.SetCallbackObj1(Local::SVCallback);
- SVE.SetUserData0(udword(cache.Model0->GetHull()));
- SVE.SetUserData1(udword(cache.Model1->GetHull()));
- Collide = SVE.Collide(*world0, *world1, &cache.SepVector);
- }
-
- if(!Collide)
- {
- // Reset stats & contact status
- mFlags &= ~OPC_CONTACT;
- mNbBVBVTests = 0;
- mNbPrimPrimTests = 0;
- mNbBVPrimTests = 0;
- mPairs.Reset();
- return true;
- }
- }
- }
-
- // Here, hulls collide
- cache.HullTest = false;
-#endif // __MESHMERIZER_H__
-
- // Checkings
- if(!Setup(cache.Model0->GetMeshInterface(), cache.Model1->GetMeshInterface())) return false;
-
- // Simple double-dispatch
- bool Status;
- if(!cache.Model0->HasLeafNodes())
- {
- if(cache.Model0->IsQuantized())
- {
- const AABBQuantizedNoLeafTree* T0 = (const AABBQuantizedNoLeafTree*)cache.Model0->GetTree();
- const AABBQuantizedNoLeafTree* T1 = (const AABBQuantizedNoLeafTree*)cache.Model1->GetTree();
- Status = Collide(T0, T1, world0, world1, &cache);
- }
- else
- {
- const AABBNoLeafTree* T0 = (const AABBNoLeafTree*)cache.Model0->GetTree();
- const AABBNoLeafTree* T1 = (const AABBNoLeafTree*)cache.Model1->GetTree();
- Status = Collide(T0, T1, world0, world1, &cache);
- }
- }
- else
- {
- if(cache.Model0->IsQuantized())
- {
- const AABBQuantizedTree* T0 = (const AABBQuantizedTree*)cache.Model0->GetTree();
- const AABBQuantizedTree* T1 = (const AABBQuantizedTree*)cache.Model1->GetTree();
- Status = Collide(T0, T1, world0, world1, &cache);
- }
- else
- {
- const AABBCollisionTree* T0 = (const AABBCollisionTree*)cache.Model0->GetTree();
- const AABBCollisionTree* T1 = (const AABBCollisionTree*)cache.Model1->GetTree();
- Status = Collide(T0, T1, world0, world1, &cache);
- }
- }
-
-#ifdef __MESHMERIZER_H__
- if(Status)
- {
- // Reset counter as long as overlap occurs
- if(GetContactStatus()) cache.ResetCountDown();
-
- // Enable hull test again when counter reaches zero
- cache.CountDown--;
- if(!cache.CountDown)
- {
- cache.ResetCountDown();
- cache.HullTest = true;
- }
- }
-#endif
- return Status;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Initializes a collision query :
- * - reset stats & contact status
- * - setup matrices
- *
- * \param world0 [in] world matrix for first object
- * \param world1 [in] world matrix for second object
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::InitQuery(const Matrix4x4* world0, const Matrix4x4* world1)
-{
- // Reset stats & contact status
- Collider::InitQuery();
- mNbBVBVTests = 0;
- mNbPrimPrimTests = 0;
- mNbBVPrimTests = 0;
- mPairs.Reset();
-
- // Setup matrices
- Matrix4x4 InvWorld0, InvWorld1;
- if(world0) InvertPRMatrix(InvWorld0, *world0);
- else InvWorld0.Identity();
-
- if(world1) InvertPRMatrix(InvWorld1, *world1);
- else InvWorld1.Identity();
-
- Matrix4x4 World0to1 = world0 ? (*world0 * InvWorld1) : InvWorld1;
- Matrix4x4 World1to0 = world1 ? (*world1 * InvWorld0) : InvWorld0;
-
- mR0to1 = World0to1; World0to1.GetTrans(mT0to1);
- mR1to0 = World1to0; World1to0.GetTrans(mT1to0);
-
- // Precompute absolute 1-to-0 rotation matrix
- for(udword i=0;i<3;i++)
- {
- for(udword j=0;j<3;j++)
- {
- // Epsilon value prevents floating-IcePoint inaccuracies (strategy borrowed from RAPID)
- mAR.m[i][j] = 1e-6f + fabsf(mR1to0.m[i][j]);
- }
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Takes advantage of temporal coherence.
- * \param cache [in] cache for a pair of previously colliding primitives
- * \return true if we can return immediately
- * \warning only works for "First Contact" mode
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeCollider::CheckTemporalCoherence(Pair* cache)
-{
- // Checkings
- if(!cache) return false;
-
- // Test previously colliding primitives first
- if(TemporalCoherenceEnabled() && FirstContactEnabled())
- {
- PrimTest(cache->id0, cache->id1);
- if(GetContactStatus()) return true;
- }
- return false;
-}
-
-#define UPDATE_CACHE \
- if(cache && GetContactStatus()) \
- { \
- cache->id0 = mPairs.GetEntry(0); \
- cache->id1 = mPairs.GetEntry(1); \
- }
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Collision query for normal AABB trees.
- * \param tree0 [in] AABB tree from first object
- * \param tree1 [in] AABB tree from second object
- * \param world0 [in] world matrix for first object
- * \param world1 [in] world matrix for second object
- * \param cache [in/out] cache for a pair of previously colliding primitives
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeCollider::Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache)
-{
- // Init collision query
- InitQuery(world0, world1);
-
- // Check previous state
- if(CheckTemporalCoherence(cache)) return true;
-
- // Perform collision query
- _Collide(tree0->GetNodes(), tree1->GetNodes());
-
- UPDATE_CACHE
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Collision query for no-leaf AABB trees.
- * \param tree0 [in] AABB tree from first object
- * \param tree1 [in] AABB tree from second object
- * \param world0 [in] world matrix for first object
- * \param world1 [in] world matrix for second object
- * \param cache [in/out] cache for a pair of previously colliding primitives
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeCollider::Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache)
-{
- // Init collision query
- InitQuery(world0, world1);
-
- // Check previous state
- if(CheckTemporalCoherence(cache)) return true;
-
- // Perform collision query
- _Collide(tree0->GetNodes(), tree1->GetNodes());
-
- UPDATE_CACHE
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Collision query for quantized AABB trees.
- * \param tree0 [in] AABB tree from first object
- * \param tree1 [in] AABB tree from second object
- * \param world0 [in] world matrix for first object
- * \param world1 [in] world matrix for second object
- * \param cache [in/out] cache for a pair of previously colliding primitives
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeCollider::Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache)
-{
- // Init collision query
- InitQuery(world0, world1);
-
- // Check previous state
- if(CheckTemporalCoherence(cache)) return true;
-
- // Setup dequantization coeffs
- mCenterCoeff0 = tree0->mCenterCoeff;
- mExtentsCoeff0 = tree0->mExtentsCoeff;
- mCenterCoeff1 = tree1->mCenterCoeff;
- mExtentsCoeff1 = tree1->mExtentsCoeff;
-
- // Dequantize box A
- const AABBQuantizedNode* N0 = tree0->GetNodes();
- const IcePoint a(float(N0->mAABB.mExtents[0]) * mExtentsCoeff0.x, float(N0->mAABB.mExtents[1]) * mExtentsCoeff0.y, float(N0->mAABB.mExtents[2]) * mExtentsCoeff0.z);
- const IcePoint Pa(float(N0->mAABB.mCenter[0]) * mCenterCoeff0.x, float(N0->mAABB.mCenter[1]) * mCenterCoeff0.y, float(N0->mAABB.mCenter[2]) * mCenterCoeff0.z);
- // Dequantize box B
- const AABBQuantizedNode* N1 = tree1->GetNodes();
- const IcePoint b(float(N1->mAABB.mExtents[0]) * mExtentsCoeff1.x, float(N1->mAABB.mExtents[1]) * mExtentsCoeff1.y, float(N1->mAABB.mExtents[2]) * mExtentsCoeff1.z);
- const IcePoint Pb(float(N1->mAABB.mCenter[0]) * mCenterCoeff1.x, float(N1->mAABB.mCenter[1]) * mCenterCoeff1.y, float(N1->mAABB.mCenter[2]) * mCenterCoeff1.z);
-
- // Perform collision query
- _Collide(N0, N1, a, Pa, b, Pb);
-
- UPDATE_CACHE
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Collision query for quantized no-leaf AABB trees.
- * \param tree0 [in] AABB tree from first object
- * \param tree1 [in] AABB tree from second object
- * \param world0 [in] world matrix for first object
- * \param world1 [in] world matrix for second object
- * \param cache [in/out] cache for a pair of previously colliding primitives
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBTreeCollider::Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache)
-{
- // Init collision query
- InitQuery(world0, world1);
-
- // Check previous state
- if(CheckTemporalCoherence(cache)) return true;
-
- // Setup dequantization coeffs
- mCenterCoeff0 = tree0->mCenterCoeff;
- mExtentsCoeff0 = tree0->mExtentsCoeff;
- mCenterCoeff1 = tree1->mCenterCoeff;
- mExtentsCoeff1 = tree1->mExtentsCoeff;
-
- // Perform collision query
- _Collide(tree0->GetNodes(), tree1->GetNodes());
-
- UPDATE_CACHE
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Standard trees
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-// The normal AABB tree can use 2 different descent rules (with different performances)
-//#define ORIGINAL_CODE //!< UNC-like descent rules
-#define ALTERNATIVE_CODE //!< Alternative descent rules
-
-#ifdef ORIGINAL_CODE
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for normal AABB trees.
- * \param b0 [in] collision node from first tree
- * \param b1 [in] collision node from second tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1)
-{
- // Perform BV-BV overlap test
- if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter)) return;
-
- if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; }
-
- if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize())))
- {
- _Collide(b0->GetNeg(), b1);
- if(ContactFound()) return;
- _Collide(b0->GetPos(), b1);
- }
- else
- {
- _Collide(b0, b1->GetNeg());
- if(ContactFound()) return;
- _Collide(b0, b1->GetPos());
- }
-}
-#endif
-
-#ifdef ALTERNATIVE_CODE
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for normal AABB trees.
- * \param b0 [in] collision node from first tree
- * \param b1 [in] collision node from second tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1)
-{
- // Perform BV-BV overlap test
- if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter))
- {
- return;
- }
-
- if(b0->IsLeaf())
- {
- if(b1->IsLeaf())
- {
- PrimTest(b0->GetPrimitive(), b1->GetPrimitive());
- }
- else
- {
- _Collide(b0, b1->GetNeg());
- if(ContactFound()) return;
- _Collide(b0, b1->GetPos());
- }
- }
- else if(b1->IsLeaf())
- {
- _Collide(b0->GetNeg(), b1);
- if(ContactFound()) return;
- _Collide(b0->GetPos(), b1);
- }
- else
- {
- _Collide(b0->GetNeg(), b1->GetNeg());
- if(ContactFound()) return;
- _Collide(b0->GetNeg(), b1->GetPos());
- if(ContactFound()) return;
- _Collide(b0->GetPos(), b1->GetNeg());
- if(ContactFound()) return;
- _Collide(b0->GetPos(), b1->GetPos());
- }
-}
-#endif
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// No-leaf trees
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Leaf-leaf test for two primitive indices.
- * \param id0 [in] index from first leaf-triangle
- * \param id1 [in] index from second leaf-triangle
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::PrimTest(udword id0, udword id1)
-{
- // Request vertices from the app
- VertexPointers VP0;
- VertexPointers VP1;
- mIMesh0->GetTriangle(VP0, id0);
- mIMesh1->GetTriangle(VP1, id1);
-
- // Transform from space 1 to space 0
- IcePoint u0,u1,u2;
- TransformPoint(u0, *VP1.Vertex[0], mR1to0, mT1to0);
- TransformPoint(u1, *VP1.Vertex[1], mR1to0, mT1to0);
- TransformPoint(u2, *VP1.Vertex[2], mR1to0, mT1to0);
-
- // Perform triangle-triangle overlap test
- if(TriTriOverlap(*VP0.Vertex[0], *VP0.Vertex[1], *VP0.Vertex[2], u0, u1, u2))
- {
- // Keep track of colliding pairs
- mPairs.Add(id0).Add(id1);
- // Set contact status
- mFlags |= OPC_CONTACT;
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Leaf-leaf test for a previously fetched triangle from tree A (in B's space) and a new leaf from B.
- * \param id1 [in] leaf-triangle index from tree B
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ void AABBTreeCollider::PrimTestTriIndex(udword id1)
-{
- // Request vertices from the app
- VertexPointers VP;
- mIMesh1->GetTriangle(VP, id1);
-
- // Perform triangle-triangle overlap test
- if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2]))
- {
- // Keep track of colliding pairs
- mPairs.Add(mLeafIndex).Add(id1);
- // Set contact status
- mFlags |= OPC_CONTACT;
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Leaf-leaf test for a previously fetched triangle from tree B (in A's space) and a new leaf from A.
- * \param id0 [in] leaf-triangle index from tree A
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ void AABBTreeCollider::PrimTestIndexTri(udword id0)
-{
- // Request vertices from the app
- VertexPointers VP;
- mIMesh0->GetTriangle(VP, id0);
-
- // Perform triangle-triangle overlap test
- if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2]))
- {
- // Keep track of colliding pairs
- mPairs.Add(id0).Add(mLeafIndex);
- // Set contact status
- mFlags |= OPC_CONTACT;
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision of a leaf node from A and a branch from B.
- * \param b [in] collision node from second tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::_CollideTriBox(const AABBNoLeafNode* b)
-{
- // Perform triangle-box overlap test
- if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return;
-
- // Keep same triangle, deal with first child
- if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive());
- else _CollideTriBox(b->GetPos());
-
- if(ContactFound()) return;
-
- // Keep same triangle, deal with second child
- if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive());
- else _CollideTriBox(b->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision of a leaf node from B and a branch from A.
- * \param b [in] collision node from first tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::_CollideBoxTri(const AABBNoLeafNode* b)
-{
- // Perform triangle-box overlap test
- if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return;
-
- // Keep same triangle, deal with first child
- if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive());
- else _CollideBoxTri(b->GetPos());
-
- if(ContactFound()) return;
-
- // Keep same triangle, deal with second child
- if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive());
- else _CollideBoxTri(b->GetNeg());
-}
-
-//! Request triangle vertices from the app and transform them
-#define FETCH_LEAF(prim_index, imesh, rot, trans) \
- mLeafIndex = prim_index; \
- /* Request vertices from the app */ \
- VertexPointers VP; imesh->GetTriangle(VP, prim_index); \
- /* Transform them in a common space */ \
- TransformPoint(mLeafVerts[0], *VP.Vertex[0], rot, trans); \
- TransformPoint(mLeafVerts[1], *VP.Vertex[1], rot, trans); \
- TransformPoint(mLeafVerts[2], *VP.Vertex[2], rot, trans);
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for no-leaf AABB trees.
- * \param a [in] collision node from first tree
- * \param b [in] collision node from second tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::_Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b)
-{
- // Perform BV-BV overlap test
- if(!BoxBoxOverlap(a->mAABB.mExtents, a->mAABB.mCenter, b->mAABB.mExtents, b->mAABB.mCenter)) return;
-
- // Catch leaf status
- BOOL BHasPosLeaf = b->HasPosLeaf();
- BOOL BHasNegLeaf = b->HasNegLeaf();
-
- if(a->HasPosLeaf())
- {
- FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1)
-
- if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive());
- else _CollideTriBox(b->GetPos());
-
- if(ContactFound()) return;
-
- if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive());
- else _CollideTriBox(b->GetNeg());
- }
- else
- {
- if(BHasPosLeaf)
- {
- FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0)
-
- _CollideBoxTri(a->GetPos());
- }
- else _Collide(a->GetPos(), b->GetPos());
-
- if(ContactFound()) return;
-
- if(BHasNegLeaf)
- {
- FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0)
-
- _CollideBoxTri(a->GetPos());
- }
- else _Collide(a->GetPos(), b->GetNeg());
- }
-
- if(ContactFound()) return;
-
- if(a->HasNegLeaf())
- {
- FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1)
-
- if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive());
- else _CollideTriBox(b->GetPos());
-
- if(ContactFound()) return;
-
- if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive());
- else _CollideTriBox(b->GetNeg());
- }
- else
- {
- if(BHasPosLeaf)
- {
- // ### That leaf has possibly already been fetched
- FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0)
-
- _CollideBoxTri(a->GetNeg());
- }
- else _Collide(a->GetNeg(), b->GetPos());
-
- if(ContactFound()) return;
-
- if(BHasNegLeaf)
- {
- // ### That leaf has possibly already been fetched
- FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0)
-
- _CollideBoxTri(a->GetNeg());
- }
- else _Collide(a->GetNeg(), b->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Quantized trees
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized AABB trees.
- * \param b0 [in] collision node from first tree
- * \param b1 [in] collision node from second tree
- * \param a [in] extent from box A
- * \param Pa [in] center from box A
- * \param b [in] extent from box B
- * \param Pb [in] center from box B
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::_Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const IcePoint& a, const IcePoint& Pa, const IcePoint& b, const IcePoint& Pb)
-{
- // Perform BV-BV overlap test
- if(!BoxBoxOverlap(a, Pa, b, Pb)) return;
-
- if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; }
-
- if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize())))
- {
- // Dequantize box
- const QuantizedAABB* Box = &b0->GetNeg()->mAABB;
- const IcePoint negPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z);
- const IcePoint nega(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z);
- _Collide(b0->GetNeg(), b1, nega, negPa, b, Pb);
-
- if(ContactFound()) return;
-
- // Dequantize box
- Box = &b0->GetPos()->mAABB;
- const IcePoint posPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z);
- const IcePoint posa(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z);
- _Collide(b0->GetPos(), b1, posa, posPa, b, Pb);
- }
- else
- {
- // Dequantize box
- const QuantizedAABB* Box = &b1->GetNeg()->mAABB;
- const IcePoint negPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z);
- const IcePoint negb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z);
- _Collide(b0, b1->GetNeg(), a, Pa, negb, negPb);
-
- if(ContactFound()) return;
-
- // Dequantize box
- Box = &b1->GetPos()->mAABB;
- const IcePoint posPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z);
- const IcePoint posb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z);
- _Collide(b0, b1->GetPos(), a, Pa, posb, posPb);
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Quantized no-leaf trees
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision of a leaf node from A and a quantized branch from B.
- * \param leaf [in] leaf triangle from first tree
- * \param b [in] collision node from second tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::_CollideTriBox(const AABBQuantizedNoLeafNode* b)
-{
- // Dequantize box
- const QuantizedAABB* bb = &b->mAABB;
- const IcePoint Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z);
- const IcePoint eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z);
-
- // Perform triangle-box overlap test
- if(!TriBoxOverlap(Pb, eb)) return;
-
- if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive());
- else _CollideTriBox(b->GetPos());
-
- if(ContactFound()) return;
-
- if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive());
- else _CollideTriBox(b->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision of a leaf node from B and a quantized branch from A.
- * \param b [in] collision node from first tree
- * \param leaf [in] leaf triangle from second tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::_CollideBoxTri(const AABBQuantizedNoLeafNode* b)
-{
- // Dequantize box
- const QuantizedAABB* bb = &b->mAABB;
- const IcePoint Pa(float(bb->mCenter[0]) * mCenterCoeff0.x, float(bb->mCenter[1]) * mCenterCoeff0.y, float(bb->mCenter[2]) * mCenterCoeff0.z);
- const IcePoint ea(float(bb->mExtents[0]) * mExtentsCoeff0.x, float(bb->mExtents[1]) * mExtentsCoeff0.y, float(bb->mExtents[2]) * mExtentsCoeff0.z);
-
- // Perform triangle-box overlap test
- if(!TriBoxOverlap(Pa, ea)) return;
-
- if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive());
- else _CollideBoxTri(b->GetPos());
-
- if(ContactFound()) return;
-
- if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive());
- else _CollideBoxTri(b->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized no-leaf AABB trees.
- * \param a [in] collision node from first tree
- * \param b [in] collision node from second tree
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBTreeCollider::_Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b)
-{
- // Dequantize box A
- const QuantizedAABB* ab = &a->mAABB;
- const IcePoint Pa(float(ab->mCenter[0]) * mCenterCoeff0.x, float(ab->mCenter[1]) * mCenterCoeff0.y, float(ab->mCenter[2]) * mCenterCoeff0.z);
- const IcePoint ea(float(ab->mExtents[0]) * mExtentsCoeff0.x, float(ab->mExtents[1]) * mExtentsCoeff0.y, float(ab->mExtents[2]) * mExtentsCoeff0.z);
- // Dequantize box B
- const QuantizedAABB* bb = &b->mAABB;
- const IcePoint Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z);
- const IcePoint eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z);
-
- // Perform BV-BV overlap test
- if(!BoxBoxOverlap(ea, Pa, eb, Pb)) return;
-
- // Catch leaf status
- BOOL BHasPosLeaf = b->HasPosLeaf();
- BOOL BHasNegLeaf = b->HasNegLeaf();
-
- if(a->HasPosLeaf())
- {
- FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1)
-
- if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive());
- else _CollideTriBox(b->GetPos());
-
- if(ContactFound()) return;
-
- if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive());
- else _CollideTriBox(b->GetNeg());
- }
- else
- {
- if(BHasPosLeaf)
- {
- FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0)
-
- _CollideBoxTri(a->GetPos());
- }
- else _Collide(a->GetPos(), b->GetPos());
-
- if(ContactFound()) return;
-
- if(BHasNegLeaf)
- {
- FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0)
-
- _CollideBoxTri(a->GetPos());
- }
- else _Collide(a->GetPos(), b->GetNeg());
- }
-
- if(ContactFound()) return;
-
- if(a->HasNegLeaf())
- {
- FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1)
-
- if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive());
- else _CollideTriBox(b->GetPos());
-
- if(ContactFound()) return;
-
- if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive());
- else _CollideTriBox(b->GetNeg());
- }
- else
- {
- if(BHasPosLeaf)
- {
- // ### That leaf has possibly already been fetched
- FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0)
-
- _CollideBoxTri(a->GetNeg());
- }
- else _Collide(a->GetNeg(), b->GetPos());
-
- if(ContactFound()) return;
-
- if(BHasNegLeaf)
- {
- // ### That leaf has possibly already been fetched
- FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0)
-
- _CollideBoxTri(a->GetNeg());
- }
- else _Collide(a->GetNeg(), b->GetNeg());
- }
-}
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a tree collider. + * \file OPC_TreeCollider.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains an AABB tree collider. + * This class performs a collision test between two AABB trees. + * + * \class AABBTreeCollider + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +#include "OPC_BoxBoxOverlap.h" +#include "OPC_TriBoxOverlap.h" +#include "OPC_TriTriOverlap.h" + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeCollider::AABBTreeCollider() : + mNbBVBVTests (0), + mNbPrimPrimTests (0), + mNbBVPrimTests (0), + mFullBoxBoxTest (true), + mFullPrimBoxTest (true), + mIMesh0 (null), + mIMesh1 (null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeCollider::~AABBTreeCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Validates current settings. You should call this method after all the settings and callbacks have been defined. + * \return null if everything is ok, else a string describing the problem + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const char* AABBTreeCollider::ValidateSettings() +{ + if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; + return null; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic collision query for generic OPCODE models. After the call, access the results with: + * - GetContactStatus() + * - GetNbPairs() + * - GetPairs() + * + * \param cache [in] collision cache for model pointers and a colliding pair of primitives + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(BVTCache& cache, const Matrix4x4* world0, const Matrix4x4* world1) +{ + // Checkings + if(!cache.Model0 || !cache.Model1) return false; + if(cache.Model0->HasLeafNodes()!=cache.Model1->HasLeafNodes()) return false; + if(cache.Model0->IsQuantized()!=cache.Model1->IsQuantized()) return false; + + /* + + Rules: + - perform hull test + - when hulls collide, disable hull test + - if meshes overlap, reset countdown + - if countdown reaches 0, enable hull test + + */ + +#ifdef __MESHMERIZER_H__ + // Handle hulls + if(cache.HullTest) + { + if(cache.Model0->GetHull() && cache.Model1->GetHull()) + { + struct Local + { + static IcePoint* SVCallback(const IcePoint& sv, udword& previndex, udword user_data) + { + CollisionHull* Hull = (CollisionHull*)user_data; + previndex = Hull->ComputeSupportingVertex(sv, previndex); + return (IcePoint*)&Hull->GetVerts()[previndex]; + } + }; + + bool Collide; + + if(0) + { + static GJKEngine GJK; + static bool GJKInitDone=false; + if(!GJKInitDone) + { + GJK.Enable(GJK_BACKUP_PROCEDURE); + GJK.Enable(GJK_DEGENERATE); + GJK.Enable(GJK_HILLCLIMBING); + GJKInitDone = true; + } + GJK.SetCallbackObj0(Local::SVCallback); + GJK.SetCallbackObj1(Local::SVCallback); + GJK.SetUserData0(udword(cache.Model0->GetHull())); + GJK.SetUserData1(udword(cache.Model1->GetHull())); + Collide = GJK.Collide(*world0, *world1, &cache.SepVector); + } + else + { + static SVEngine SVE; + SVE.SetCallbackObj0(Local::SVCallback); + SVE.SetCallbackObj1(Local::SVCallback); + SVE.SetUserData0(udword(cache.Model0->GetHull())); + SVE.SetUserData1(udword(cache.Model1->GetHull())); + Collide = SVE.Collide(*world0, *world1, &cache.SepVector); + } + + if(!Collide) + { + // Reset stats & contact status + mFlags &= ~OPC_CONTACT; + mNbBVBVTests = 0; + mNbPrimPrimTests = 0; + mNbBVPrimTests = 0; + mPairs.Reset(); + return true; + } + } + } + + // Here, hulls collide + cache.HullTest = false; +#endif // __MESHMERIZER_H__ + + // Checkings + if(!Setup(cache.Model0->GetMeshInterface(), cache.Model1->GetMeshInterface())) return false; + + // Simple double-dispatch + bool Status; + if(!cache.Model0->HasLeafNodes()) + { + if(cache.Model0->IsQuantized()) + { + const AABBQuantizedNoLeafTree* T0 = (const AABBQuantizedNoLeafTree*)cache.Model0->GetTree(); + const AABBQuantizedNoLeafTree* T1 = (const AABBQuantizedNoLeafTree*)cache.Model1->GetTree(); + Status = Collide(T0, T1, world0, world1, &cache); + } + else + { + const AABBNoLeafTree* T0 = (const AABBNoLeafTree*)cache.Model0->GetTree(); + const AABBNoLeafTree* T1 = (const AABBNoLeafTree*)cache.Model1->GetTree(); + Status = Collide(T0, T1, world0, world1, &cache); + } + } + else + { + if(cache.Model0->IsQuantized()) + { + const AABBQuantizedTree* T0 = (const AABBQuantizedTree*)cache.Model0->GetTree(); + const AABBQuantizedTree* T1 = (const AABBQuantizedTree*)cache.Model1->GetTree(); + Status = Collide(T0, T1, world0, world1, &cache); + } + else + { + const AABBCollisionTree* T0 = (const AABBCollisionTree*)cache.Model0->GetTree(); + const AABBCollisionTree* T1 = (const AABBCollisionTree*)cache.Model1->GetTree(); + Status = Collide(T0, T1, world0, world1, &cache); + } + } + +#ifdef __MESHMERIZER_H__ + if(Status) + { + // Reset counter as long as overlap occurs + if(GetContactStatus()) cache.ResetCountDown(); + + // Enable hull test again when counter reaches zero + cache.CountDown--; + if(!cache.CountDown) + { + cache.ResetCountDown(); + cache.HullTest = true; + } + } +#endif + return Status; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Initializes a collision query : + * - reset stats & contact status + * - setup matrices + * + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::InitQuery(const Matrix4x4* world0, const Matrix4x4* world1) +{ + // Reset stats & contact status + Collider::InitQuery(); + mNbBVBVTests = 0; + mNbPrimPrimTests = 0; + mNbBVPrimTests = 0; + mPairs.Reset(); + + // Setup matrices + Matrix4x4 InvWorld0, InvWorld1; + if(world0) InvertPRMatrix(InvWorld0, *world0); + else InvWorld0.Identity(); + + if(world1) InvertPRMatrix(InvWorld1, *world1); + else InvWorld1.Identity(); + + Matrix4x4 World0to1 = world0 ? (*world0 * InvWorld1) : InvWorld1; + Matrix4x4 World1to0 = world1 ? (*world1 * InvWorld0) : InvWorld0; + + mR0to1 = World0to1; World0to1.GetTrans(mT0to1); + mR1to0 = World1to0; World1to0.GetTrans(mT1to0); + + // Precompute absolute 1-to-0 rotation matrix + for(udword i=0;i<3;i++) + { + for(udword j=0;j<3;j++) + { + // Epsilon value prevents floating-IcePoint inaccuracies (strategy borrowed from RAPID) + mAR.m[i][j] = 1e-6f + fabsf(mR1to0.m[i][j]); + } + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Takes advantage of temporal coherence. + * \param cache [in] cache for a pair of previously colliding primitives + * \return true if we can return immediately + * \warning only works for "First Contact" mode + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::CheckTemporalCoherence(Pair* cache) +{ + // Checkings + if(!cache) return false; + + // Test previously colliding primitives first + if(TemporalCoherenceEnabled() && FirstContactEnabled()) + { + PrimTest(cache->id0, cache->id1); + if(GetContactStatus()) return true; + } + return false; +} + +#define UPDATE_CACHE \ + if(cache && GetContactStatus()) \ + { \ + cache->id0 = mPairs.GetEntry(0); \ + cache->id1 = mPairs.GetEntry(1); \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for normal AABB trees. + * \param tree0 [in] AABB tree from first object + * \param tree1 [in] AABB tree from second object + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \param cache [in/out] cache for a pair of previously colliding primitives + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) +{ + // Init collision query + InitQuery(world0, world1); + + // Check previous state + if(CheckTemporalCoherence(cache)) return true; + + // Perform collision query + _Collide(tree0->GetNodes(), tree1->GetNodes()); + + UPDATE_CACHE + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for no-leaf AABB trees. + * \param tree0 [in] AABB tree from first object + * \param tree1 [in] AABB tree from second object + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \param cache [in/out] cache for a pair of previously colliding primitives + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) +{ + // Init collision query + InitQuery(world0, world1); + + // Check previous state + if(CheckTemporalCoherence(cache)) return true; + + // Perform collision query + _Collide(tree0->GetNodes(), tree1->GetNodes()); + + UPDATE_CACHE + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for quantized AABB trees. + * \param tree0 [in] AABB tree from first object + * \param tree1 [in] AABB tree from second object + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \param cache [in/out] cache for a pair of previously colliding primitives + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) +{ + // Init collision query + InitQuery(world0, world1); + + // Check previous state + if(CheckTemporalCoherence(cache)) return true; + + // Setup dequantization coeffs + mCenterCoeff0 = tree0->mCenterCoeff; + mExtentsCoeff0 = tree0->mExtentsCoeff; + mCenterCoeff1 = tree1->mCenterCoeff; + mExtentsCoeff1 = tree1->mExtentsCoeff; + + // Dequantize box A + const AABBQuantizedNode* N0 = tree0->GetNodes(); + const IcePoint a(float(N0->mAABB.mExtents[0]) * mExtentsCoeff0.x, float(N0->mAABB.mExtents[1]) * mExtentsCoeff0.y, float(N0->mAABB.mExtents[2]) * mExtentsCoeff0.z); + const IcePoint Pa(float(N0->mAABB.mCenter[0]) * mCenterCoeff0.x, float(N0->mAABB.mCenter[1]) * mCenterCoeff0.y, float(N0->mAABB.mCenter[2]) * mCenterCoeff0.z); + // Dequantize box B + const AABBQuantizedNode* N1 = tree1->GetNodes(); + const IcePoint b(float(N1->mAABB.mExtents[0]) * mExtentsCoeff1.x, float(N1->mAABB.mExtents[1]) * mExtentsCoeff1.y, float(N1->mAABB.mExtents[2]) * mExtentsCoeff1.z); + const IcePoint Pb(float(N1->mAABB.mCenter[0]) * mCenterCoeff1.x, float(N1->mAABB.mCenter[1]) * mCenterCoeff1.y, float(N1->mAABB.mCenter[2]) * mCenterCoeff1.z); + + // Perform collision query + _Collide(N0, N1, a, Pa, b, Pb); + + UPDATE_CACHE + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for quantized no-leaf AABB trees. + * \param tree0 [in] AABB tree from first object + * \param tree1 [in] AABB tree from second object + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \param cache [in/out] cache for a pair of previously colliding primitives + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) +{ + // Init collision query + InitQuery(world0, world1); + + // Check previous state + if(CheckTemporalCoherence(cache)) return true; + + // Setup dequantization coeffs + mCenterCoeff0 = tree0->mCenterCoeff; + mExtentsCoeff0 = tree0->mExtentsCoeff; + mCenterCoeff1 = tree1->mCenterCoeff; + mExtentsCoeff1 = tree1->mExtentsCoeff; + + // Perform collision query + _Collide(tree0->GetNodes(), tree1->GetNodes()); + + UPDATE_CACHE + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Standard trees +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +// The normal AABB tree can use 2 different descent rules (with different performances) +//#define ORIGINAL_CODE //!< UNC-like descent rules +#define ALTERNATIVE_CODE //!< Alternative descent rules + +#ifdef ORIGINAL_CODE +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for normal AABB trees. + * \param b0 [in] collision node from first tree + * \param b1 [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1) +{ + // Perform BV-BV overlap test + if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter)) return; + + if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; } + + if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) + { + _Collide(b0->GetNeg(), b1); + if(ContactFound()) return; + _Collide(b0->GetPos(), b1); + } + else + { + _Collide(b0, b1->GetNeg()); + if(ContactFound()) return; + _Collide(b0, b1->GetPos()); + } +} +#endif + +#ifdef ALTERNATIVE_CODE +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for normal AABB trees. + * \param b0 [in] collision node from first tree + * \param b1 [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1) +{ + // Perform BV-BV overlap test + if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter)) + { + return; + } + + if(b0->IsLeaf()) + { + if(b1->IsLeaf()) + { + PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); + } + else + { + _Collide(b0, b1->GetNeg()); + if(ContactFound()) return; + _Collide(b0, b1->GetPos()); + } + } + else if(b1->IsLeaf()) + { + _Collide(b0->GetNeg(), b1); + if(ContactFound()) return; + _Collide(b0->GetPos(), b1); + } + else + { + _Collide(b0->GetNeg(), b1->GetNeg()); + if(ContactFound()) return; + _Collide(b0->GetNeg(), b1->GetPos()); + if(ContactFound()) return; + _Collide(b0->GetPos(), b1->GetNeg()); + if(ContactFound()) return; + _Collide(b0->GetPos(), b1->GetPos()); + } +} +#endif + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// No-leaf trees +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Leaf-leaf test for two primitive indices. + * \param id0 [in] index from first leaf-triangle + * \param id1 [in] index from second leaf-triangle + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::PrimTest(udword id0, udword id1) +{ + // Request vertices from the app + VertexPointers VP0; + VertexPointers VP1; + mIMesh0->GetTriangle(VP0, id0); + mIMesh1->GetTriangle(VP1, id1); + + // Transform from space 1 to space 0 + IcePoint u0,u1,u2; + TransformPoint(u0, *VP1.Vertex[0], mR1to0, mT1to0); + TransformPoint(u1, *VP1.Vertex[1], mR1to0, mT1to0); + TransformPoint(u2, *VP1.Vertex[2], mR1to0, mT1to0); + + // Perform triangle-triangle overlap test + if(TriTriOverlap(*VP0.Vertex[0], *VP0.Vertex[1], *VP0.Vertex[2], u0, u1, u2)) + { + // Keep track of colliding pairs + mPairs.Add(id0).Add(id1); + // Set contact status + mFlags |= OPC_CONTACT; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Leaf-leaf test for a previously fetched triangle from tree A (in B's space) and a new leaf from B. + * \param id1 [in] leaf-triangle index from tree B + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ void AABBTreeCollider::PrimTestTriIndex(udword id1) +{ + // Request vertices from the app + VertexPointers VP; + mIMesh1->GetTriangle(VP, id1); + + // Perform triangle-triangle overlap test + if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) + { + // Keep track of colliding pairs + mPairs.Add(mLeafIndex).Add(id1); + // Set contact status + mFlags |= OPC_CONTACT; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Leaf-leaf test for a previously fetched triangle from tree B (in A's space) and a new leaf from A. + * \param id0 [in] leaf-triangle index from tree A + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ void AABBTreeCollider::PrimTestIndexTri(udword id0) +{ + // Request vertices from the app + VertexPointers VP; + mIMesh0->GetTriangle(VP, id0); + + // Perform triangle-triangle overlap test + if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) + { + // Keep track of colliding pairs + mPairs.Add(id0).Add(mLeafIndex); + // Set contact status + mFlags |= OPC_CONTACT; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision of a leaf node from A and a branch from B. + * \param b [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_CollideTriBox(const AABBNoLeafNode* b) +{ + // Perform triangle-box overlap test + if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return; + + // Keep same triangle, deal with first child + if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + // Keep same triangle, deal with second child + if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision of a leaf node from B and a branch from A. + * \param b [in] collision node from first tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_CollideBoxTri(const AABBNoLeafNode* b) +{ + // Perform triangle-box overlap test + if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return; + + // Keep same triangle, deal with first child + if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive()); + else _CollideBoxTri(b->GetPos()); + + if(ContactFound()) return; + + // Keep same triangle, deal with second child + if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive()); + else _CollideBoxTri(b->GetNeg()); +} + +//! Request triangle vertices from the app and transform them +#define FETCH_LEAF(prim_index, imesh, rot, trans) \ + mLeafIndex = prim_index; \ + /* Request vertices from the app */ \ + VertexPointers VP; imesh->GetTriangle(VP, prim_index); \ + /* Transform them in a common space */ \ + TransformPoint(mLeafVerts[0], *VP.Vertex[0], rot, trans); \ + TransformPoint(mLeafVerts[1], *VP.Vertex[1], rot, trans); \ + TransformPoint(mLeafVerts[2], *VP.Vertex[2], rot, trans); + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for no-leaf AABB trees. + * \param a [in] collision node from first tree + * \param b [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b) +{ + // Perform BV-BV overlap test + if(!BoxBoxOverlap(a->mAABB.mExtents, a->mAABB.mCenter, b->mAABB.mExtents, b->mAABB.mCenter)) return; + + // Catch leaf status + BOOL BHasPosLeaf = b->HasPosLeaf(); + BOOL BHasNegLeaf = b->HasNegLeaf(); + + if(a->HasPosLeaf()) + { + FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1) + + if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); + } + else + { + if(BHasPosLeaf) + { + FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetPos()); + } + else _Collide(a->GetPos(), b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) + { + FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetPos()); + } + else _Collide(a->GetPos(), b->GetNeg()); + } + + if(ContactFound()) return; + + if(a->HasNegLeaf()) + { + FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1) + + if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); + } + else + { + if(BHasPosLeaf) + { + // ### That leaf has possibly already been fetched + FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetNeg()); + } + else _Collide(a->GetNeg(), b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) + { + // ### That leaf has possibly already been fetched + FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetNeg()); + } + else _Collide(a->GetNeg(), b->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Quantized trees +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized AABB trees. + * \param b0 [in] collision node from first tree + * \param b1 [in] collision node from second tree + * \param a [in] extent from box A + * \param Pa [in] center from box A + * \param b [in] extent from box B + * \param Pb [in] center from box B + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const IcePoint& a, const IcePoint& Pa, const IcePoint& b, const IcePoint& Pb) +{ + // Perform BV-BV overlap test + if(!BoxBoxOverlap(a, Pa, b, Pb)) return; + + if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; } + + if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) + { + // Dequantize box + const QuantizedAABB* Box = &b0->GetNeg()->mAABB; + const IcePoint negPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z); + const IcePoint nega(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z); + _Collide(b0->GetNeg(), b1, nega, negPa, b, Pb); + + if(ContactFound()) return; + + // Dequantize box + Box = &b0->GetPos()->mAABB; + const IcePoint posPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z); + const IcePoint posa(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z); + _Collide(b0->GetPos(), b1, posa, posPa, b, Pb); + } + else + { + // Dequantize box + const QuantizedAABB* Box = &b1->GetNeg()->mAABB; + const IcePoint negPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z); + const IcePoint negb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z); + _Collide(b0, b1->GetNeg(), a, Pa, negb, negPb); + + if(ContactFound()) return; + + // Dequantize box + Box = &b1->GetPos()->mAABB; + const IcePoint posPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z); + const IcePoint posb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z); + _Collide(b0, b1->GetPos(), a, Pa, posb, posPb); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Quantized no-leaf trees +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision of a leaf node from A and a quantized branch from B. + * \param leaf [in] leaf triangle from first tree + * \param b [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_CollideTriBox(const AABBQuantizedNoLeafNode* b) +{ + // Dequantize box + const QuantizedAABB* bb = &b->mAABB; + const IcePoint Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z); + const IcePoint eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z); + + // Perform triangle-box overlap test + if(!TriBoxOverlap(Pb, eb)) return; + + if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision of a leaf node from B and a quantized branch from A. + * \param b [in] collision node from first tree + * \param leaf [in] leaf triangle from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_CollideBoxTri(const AABBQuantizedNoLeafNode* b) +{ + // Dequantize box + const QuantizedAABB* bb = &b->mAABB; + const IcePoint Pa(float(bb->mCenter[0]) * mCenterCoeff0.x, float(bb->mCenter[1]) * mCenterCoeff0.y, float(bb->mCenter[2]) * mCenterCoeff0.z); + const IcePoint ea(float(bb->mExtents[0]) * mExtentsCoeff0.x, float(bb->mExtents[1]) * mExtentsCoeff0.y, float(bb->mExtents[2]) * mExtentsCoeff0.z); + + // Perform triangle-box overlap test + if(!TriBoxOverlap(Pa, ea)) return; + + if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive()); + else _CollideBoxTri(b->GetPos()); + + if(ContactFound()) return; + + if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive()); + else _CollideBoxTri(b->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized no-leaf AABB trees. + * \param a [in] collision node from first tree + * \param b [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b) +{ + // Dequantize box A + const QuantizedAABB* ab = &a->mAABB; + const IcePoint Pa(float(ab->mCenter[0]) * mCenterCoeff0.x, float(ab->mCenter[1]) * mCenterCoeff0.y, float(ab->mCenter[2]) * mCenterCoeff0.z); + const IcePoint ea(float(ab->mExtents[0]) * mExtentsCoeff0.x, float(ab->mExtents[1]) * mExtentsCoeff0.y, float(ab->mExtents[2]) * mExtentsCoeff0.z); + // Dequantize box B + const QuantizedAABB* bb = &b->mAABB; + const IcePoint Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z); + const IcePoint eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z); + + // Perform BV-BV overlap test + if(!BoxBoxOverlap(ea, Pa, eb, Pb)) return; + + // Catch leaf status + BOOL BHasPosLeaf = b->HasPosLeaf(); + BOOL BHasNegLeaf = b->HasNegLeaf(); + + if(a->HasPosLeaf()) + { + FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1) + + if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); + } + else + { + if(BHasPosLeaf) + { + FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetPos()); + } + else _Collide(a->GetPos(), b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) + { + FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetPos()); + } + else _Collide(a->GetPos(), b->GetNeg()); + } + + if(ContactFound()) return; + + if(a->HasNegLeaf()) + { + FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1) + + if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); + } + else + { + if(BHasPosLeaf) + { + // ### That leaf has possibly already been fetched + FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetNeg()); + } + else _Collide(a->GetNeg(), b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) + { + // ### That leaf has possibly already been fetched + FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetNeg()); + } + else _Collide(a->GetNeg(), b->GetNeg()); + } +} diff --git a/Opcode/OPC_TreeCollider.h b/Opcode/OPC_TreeCollider.h index ce58ff8..ec0e517 100644 --- a/Opcode/OPC_TreeCollider.h +++ b/Opcode/OPC_TreeCollider.h @@ -1,244 +1,244 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for a tree collider.
- * \file OPC_TreeCollider.h
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_TREECOLLIDER_H__
-#define __OPC_TREECOLLIDER_H__
-
- //! This structure holds cached information used by the algorithm.
- //! Two model pointers and two colliding primitives are cached. Model pointers are assigned
- //! to their respective meshes, and the pair of colliding primitives is used for temporal
- //! coherence. That is, in case temporal coherence is enabled, those two primitives are
- //! tested for overlap before everything else. If they still collide, we're done before
- //! even entering the recursive collision code.
- struct OPCODE_API BVTCache : Pair
- {
- //! Constructor
- inline_ BVTCache()
- {
- ResetCache();
- ResetCountDown();
- }
-
- void ResetCache()
- {
- Model0 = null;
- Model1 = null;
- id0 = 0;
- id1 = 1;
-#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
- HullTest = true;
- SepVector.pid = 0;
- SepVector.qid = 0;
- SepVector.SV = IcePoint(1.0f, 0.0f, 0.0f);
-#endif // __MESHMERIZER_H__
- }
-
- inline_ void ResetCountDown()
- {
-#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
- CountDown = 50;
-#endif // __MESHMERIZER_H__
- }
-
- const Model* Model0; //!< Model for first object
- const Model* Model1; //!< Model for second object
-
-#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
- SVCache SepVector;
- udword CountDown;
- bool HullTest;
-#endif // __MESHMERIZER_H__
- };
-
- class OPCODE_API AABBTreeCollider : public Collider
- {
- public:
- // Constructor / Destructor
- AABBTreeCollider();
- virtual ~AABBTreeCollider();
- // Generic collision query
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Generic collision query for generic OPCODE models. After the call, access the results with:
- * - GetContactStatus()
- * - GetNbPairs()
- * - GetPairs()
- *
- * \param cache [in] collision cache for model pointers and a colliding pair of primitives
- * \param world0 [in] world matrix for first object, or null
- * \param world1 [in] world matrix for second object, or null
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- bool Collide(BVTCache& cache, const Matrix4x4* world0=null, const Matrix4x4* world1=null);
-
- // Collision queries
- bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
- bool Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
- bool Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
- bool Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
- // Settings
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded)
- * \param flag [in] true for full tests, false for coarse tests
- * \see SetFullPrimBoxTest(bool flag)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded)
- * \param flag [in] true for full tests, false for coarse tests
- * \see SetFullBoxBoxTest(bool flag)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ void SetFullPrimBoxTest(bool flag) { mFullPrimBoxTest = flag; }
-
- // Stats
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Stats: gets the number of BV-BV overlap tests after a collision query.
- * \see GetNbPrimPrimTests()
- * \see GetNbBVPrimTests()
- * \return the number of BV-BV tests performed during last query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbBVBVTests() const { return mNbBVBVTests; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Stats: gets the number of Triangle-Triangle overlap tests after a collision query.
- * \see GetNbBVBVTests()
- * \see GetNbBVPrimTests()
- * \return the number of Triangle-Triangle tests performed during last query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbPrimPrimTests() const { return mNbPrimPrimTests; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Stats: gets the number of BV-Triangle overlap tests after a collision query.
- * \see GetNbBVBVTests()
- * \see GetNbPrimPrimTests()
- * \return the number of BV-Triangle tests performed during last query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbBVPrimTests() const { return mNbBVPrimTests; }
-
- // Data access
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the number of contacts after a collision query.
- * \see GetContactStatus()
- * \see GetPairs()
- * \return the number of contacts / colliding pairs.
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbPairs() const { return mPairs.GetNbEntries()>>1; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the pairs of colliding triangles after a collision query.
- * \see GetContactStatus()
- * \see GetNbPairs()
- * \return the list of colliding pairs (triangle indices)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ const Pair* GetPairs() const { return (const Pair*)mPairs.GetEntries(); }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
- * \return null if everything is ok, else a string describing the problem
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(Collider) const char* ValidateSettings();
-
- protected:
- // Colliding pairs
- Container mPairs; //!< Pairs of colliding primitives
- // User mesh interfaces
- const MeshInterface* mIMesh0; //!< User-defined mesh interface for object0
- const MeshInterface* mIMesh1; //!< User-defined mesh interface for object1
- // Stats
- udword mNbBVBVTests; //!< Number of BV-BV tests
- udword mNbPrimPrimTests; //!< Number of Primitive-Primitive tests
- udword mNbBVPrimTests; //!< Number of BV-Primitive tests
- // Precomputed data
- Matrix3x3 mAR; //!< Absolute rotation matrix
- Matrix3x3 mR0to1; //!< Rotation from object0 to object1
- Matrix3x3 mR1to0; //!< Rotation from object1 to object0
- IcePoint mT0to1; //!< Translation from object0 to object1
- IcePoint mT1to0; //!< Translation from object1 to object0
- // Dequantization coeffs
- IcePoint mCenterCoeff0;
- IcePoint mExtentsCoeff0;
- IcePoint mCenterCoeff1;
- IcePoint mExtentsCoeff1;
- // Leaf description
- IcePoint mLeafVerts[3]; //!< Triangle vertices
- udword mLeafIndex; //!< Triangle index
- // Settings
- bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false)
- bool mFullPrimBoxTest; //!< Perform full Primitive-BV tests (true) or SAT-lite tests (false)
- // Internal methods
-
- // Standard AABB trees
- void _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1);
- // Quantized AABB trees
- void _Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const IcePoint& a, const IcePoint& Pa, const IcePoint& b, const IcePoint& Pb);
- // No-leaf AABB trees
- void _CollideTriBox(const AABBNoLeafNode* b);
- void _CollideBoxTri(const AABBNoLeafNode* b);
- void _Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b);
- // Quantized no-leaf AABB trees
- void _CollideTriBox(const AABBQuantizedNoLeafNode* b);
- void _CollideBoxTri(const AABBQuantizedNoLeafNode* b);
- void _Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b);
- // Overlap tests
- void PrimTest(udword id0, udword id1);
- inline_ void PrimTestTriIndex(udword id1);
- inline_ void PrimTestIndexTri(udword id0);
-
- inline_ BOOL BoxBoxOverlap(const IcePoint& ea, const IcePoint& ca, const IcePoint& eb, const IcePoint& cb);
- inline_ BOOL TriBoxOverlap(const IcePoint& center, const IcePoint& extents);
- inline_ BOOL TriTriOverlap(const IcePoint& V0, const IcePoint& V1, const IcePoint& V2, const IcePoint& U0, const IcePoint& U1, const IcePoint& U2);
- // Init methods
- void InitQuery(const Matrix4x4* world0=null, const Matrix4x4* world1=null);
- bool CheckTemporalCoherence(Pair* cache);
-
- inline_ BOOL Setup(const MeshInterface* mi0, const MeshInterface* mi1)
- {
- mIMesh0 = mi0;
- mIMesh1 = mi1;
-
- if(!mIMesh0 || !mIMesh1) return FALSE;
-
- return TRUE;
- }
- };
-
-#endif // __OPC_TREECOLLIDER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a tree collider. + * \file OPC_TreeCollider.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_TREECOLLIDER_H__ +#define __OPC_TREECOLLIDER_H__ + + //! This structure holds cached information used by the algorithm. + //! Two model pointers and two colliding primitives are cached. Model pointers are assigned + //! to their respective meshes, and the pair of colliding primitives is used for temporal + //! coherence. That is, in case temporal coherence is enabled, those two primitives are + //! tested for overlap before everything else. If they still collide, we're done before + //! even entering the recursive collision code. + struct OPCODE_API BVTCache : Pair + { + //! Constructor + inline_ BVTCache() + { + ResetCache(); + ResetCountDown(); + } + + void ResetCache() + { + Model0 = null; + Model1 = null; + id0 = 0; + id1 = 1; +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + HullTest = true; + SepVector.pid = 0; + SepVector.qid = 0; + SepVector.SV = IcePoint(1.0f, 0.0f, 0.0f); +#endif // __MESHMERIZER_H__ + } + + inline_ void ResetCountDown() + { +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + CountDown = 50; +#endif // __MESHMERIZER_H__ + } + + const Model* Model0; //!< Model for first object + const Model* Model1; //!< Model for second object + +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + SVCache SepVector; + udword CountDown; + bool HullTest; +#endif // __MESHMERIZER_H__ + }; + + class OPCODE_API AABBTreeCollider : public Collider + { + public: + // Constructor / Destructor + AABBTreeCollider(); + virtual ~AABBTreeCollider(); + // Generic collision query + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results with: + * - GetContactStatus() + * - GetNbPairs() + * - GetPairs() + * + * \param cache [in] collision cache for model pointers and a colliding pair of primitives + * \param world0 [in] world matrix for first object, or null + * \param world1 [in] world matrix for second object, or null + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool Collide(BVTCache& cache, const Matrix4x4* world0=null, const Matrix4x4* world1=null); + + // Collision queries + bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); + bool Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); + bool Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); + bool Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded) + * \param flag [in] true for full tests, false for coarse tests + * \see SetFullPrimBoxTest(bool flag) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded) + * \param flag [in] true for full tests, false for coarse tests + * \see SetFullBoxBoxTest(bool flag) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetFullPrimBoxTest(bool flag) { mFullPrimBoxTest = flag; } + + // Stats + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of BV-BV overlap tests after a collision query. + * \see GetNbPrimPrimTests() + * \see GetNbBVPrimTests() + * \return the number of BV-BV tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbBVBVTests() const { return mNbBVBVTests; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Triangle-Triangle overlap tests after a collision query. + * \see GetNbBVBVTests() + * \see GetNbBVPrimTests() + * \return the number of Triangle-Triangle tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbPrimPrimTests() const { return mNbPrimPrimTests; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of BV-Triangle overlap tests after a collision query. + * \see GetNbBVBVTests() + * \see GetNbPrimPrimTests() + * \return the number of BV-Triangle tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbBVPrimTests() const { return mNbBVPrimTests; } + + // Data access + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of contacts after a collision query. + * \see GetContactStatus() + * \see GetPairs() + * \return the number of contacts / colliding pairs. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbPairs() const { return mPairs.GetNbEntries()>>1; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the pairs of colliding triangles after a collision query. + * \see GetContactStatus() + * \see GetNbPairs() + * \return the list of colliding pairs (triangle indices) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const Pair* GetPairs() const { return (const Pair*)mPairs.GetEntries(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Colliding pairs + Container mPairs; //!< Pairs of colliding primitives + // User mesh interfaces + const MeshInterface* mIMesh0; //!< User-defined mesh interface for object0 + const MeshInterface* mIMesh1; //!< User-defined mesh interface for object1 + // Stats + udword mNbBVBVTests; //!< Number of BV-BV tests + udword mNbPrimPrimTests; //!< Number of Primitive-Primitive tests + udword mNbBVPrimTests; //!< Number of BV-Primitive tests + // Precomputed data + Matrix3x3 mAR; //!< Absolute rotation matrix + Matrix3x3 mR0to1; //!< Rotation from object0 to object1 + Matrix3x3 mR1to0; //!< Rotation from object1 to object0 + IcePoint mT0to1; //!< Translation from object0 to object1 + IcePoint mT1to0; //!< Translation from object1 to object0 + // Dequantization coeffs + IcePoint mCenterCoeff0; + IcePoint mExtentsCoeff0; + IcePoint mCenterCoeff1; + IcePoint mExtentsCoeff1; + // Leaf description + IcePoint mLeafVerts[3]; //!< Triangle vertices + udword mLeafIndex; //!< Triangle index + // Settings + bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false) + bool mFullPrimBoxTest; //!< Perform full Primitive-BV tests (true) or SAT-lite tests (false) + // Internal methods + + // Standard AABB trees + void _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1); + // Quantized AABB trees + void _Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const IcePoint& a, const IcePoint& Pa, const IcePoint& b, const IcePoint& Pb); + // No-leaf AABB trees + void _CollideTriBox(const AABBNoLeafNode* b); + void _CollideBoxTri(const AABBNoLeafNode* b); + void _Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b); + // Quantized no-leaf AABB trees + void _CollideTriBox(const AABBQuantizedNoLeafNode* b); + void _CollideBoxTri(const AABBQuantizedNoLeafNode* b); + void _Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b); + // Overlap tests + void PrimTest(udword id0, udword id1); + inline_ void PrimTestTriIndex(udword id1); + inline_ void PrimTestIndexTri(udword id0); + + inline_ BOOL BoxBoxOverlap(const IcePoint& ea, const IcePoint& ca, const IcePoint& eb, const IcePoint& cb); + inline_ BOOL TriBoxOverlap(const IcePoint& center, const IcePoint& extents); + inline_ BOOL TriTriOverlap(const IcePoint& V0, const IcePoint& V1, const IcePoint& V2, const IcePoint& U0, const IcePoint& U1, const IcePoint& U2); + // Init methods + void InitQuery(const Matrix4x4* world0=null, const Matrix4x4* world1=null); + bool CheckTemporalCoherence(Pair* cache); + + inline_ BOOL Setup(const MeshInterface* mi0, const MeshInterface* mi1) + { + mIMesh0 = mi0; + mIMesh1 = mi1; + + if(!mIMesh0 || !mIMesh1) return FALSE; + + return TRUE; + } + }; + +#endif // __OPC_TREECOLLIDER_H__ diff --git a/Opcode/OPC_TriBoxOverlap.h b/Opcode/OPC_TriBoxOverlap.h index 662a127..e32673b 100644 --- a/Opcode/OPC_TriBoxOverlap.h +++ b/Opcode/OPC_TriBoxOverlap.h @@ -1,339 +1,339 @@ -
-//! This macro quickly finds the min & max values among 3 variables
-#define FINDMINMAX(x0, x1, x2, min, max) \
- min = max = x0; \
- if(x1<min) min=x1; \
- if(x1>max) max=x1; \
- if(x2<min) min=x2; \
- if(x2>max) max=x2;
-
-//! TO BE DOCUMENTED
-inline_ BOOL planeBoxOverlap(const IcePoint& normal, const float d, const IcePoint& maxbox)
-{
- IcePoint vmin, vmax;
- for(udword q=0;q<=2;q++)
- {
- if(normal[q]>0.0f) { vmin[q]=-maxbox[q]; vmax[q]=maxbox[q]; }
- else { vmin[q]=maxbox[q]; vmax[q]=-maxbox[q]; }
- }
- if((normal|vmin)+d>0.0f) return FALSE;
- if((normal|vmax)+d>=0.0f) return TRUE;
-
- return FALSE;
-}
-
-//! TO BE DOCUMENTED
-#define AXISTEST_X01(a, b, fa, fb) \
- min = a*v0.y - b*v0.z; \
- max = a*v2.y - b*v2.z; \
- if(min>max) {const float tmp=max; max=min; min=tmp; } \
- rad = fa * extents.y + fb * extents.z; \
- if(min>rad || max<-rad) return FALSE;
-
-//! TO BE DOCUMENTED
-#define AXISTEST_X2(a, b, fa, fb) \
- min = a*v0.y - b*v0.z; \
- max = a*v1.y - b*v1.z; \
- if(min>max) {const float tmp=max; max=min; min=tmp; } \
- rad = fa * extents.y + fb * extents.z; \
- if(min>rad || max<-rad) return FALSE;
-
-//! TO BE DOCUMENTED
-#define AXISTEST_Y02(a, b, fa, fb) \
- min = b*v0.z - a*v0.x; \
- max = b*v2.z - a*v2.x; \
- if(min>max) {const float tmp=max; max=min; min=tmp; } \
- rad = fa * extents.x + fb * extents.z; \
- if(min>rad || max<-rad) return FALSE;
-
-//! TO BE DOCUMENTED
-#define AXISTEST_Y1(a, b, fa, fb) \
- min = b*v0.z - a*v0.x; \
- max = b*v1.z - a*v1.x; \
- if(min>max) {const float tmp=max; max=min; min=tmp; } \
- rad = fa * extents.x + fb * extents.z; \
- if(min>rad || max<-rad) return FALSE;
-
-//! TO BE DOCUMENTED
-#define AXISTEST_Z12(a, b, fa, fb) \
- min = a*v1.x - b*v1.y; \
- max = a*v2.x - b*v2.y; \
- if(min>max) {const float tmp=max; max=min; min=tmp; } \
- rad = fa * extents.x + fb * extents.y; \
- if(min>rad || max<-rad) return FALSE;
-
-//! TO BE DOCUMENTED
-#define AXISTEST_Z0(a, b, fa, fb) \
- min = a*v0.x - b*v0.y; \
- max = a*v1.x - b*v1.y; \
- if(min>max) {const float tmp=max; max=min; min=tmp; } \
- rad = fa * extents.x + fb * extents.y; \
- if(min>rad || max<-rad) return FALSE;
-
-// compute triangle edges
-// - edges lazy evaluated to take advantage of early exits
-// - fabs precomputed (half less work, possible since extents are always >0)
-// - customized macros to take advantage of the null component
-// - axis vector discarded, possibly saves useless movs
-#define IMPLEMENT_CLASS3_TESTS \
- float rad; \
- float min, max; \
- \
- const float fey0 = fabsf(e0.y); \
- const float fez0 = fabsf(e0.z); \
- AXISTEST_X01(e0.z, e0.y, fez0, fey0); \
- const float fex0 = fabsf(e0.x); \
- AXISTEST_Y02(e0.z, e0.x, fez0, fex0); \
- AXISTEST_Z12(e0.y, e0.x, fey0, fex0); \
- \
- const float fey1 = fabsf(e1.y); \
- const float fez1 = fabsf(e1.z); \
- AXISTEST_X01(e1.z, e1.y, fez1, fey1); \
- const float fex1 = fabsf(e1.x); \
- AXISTEST_Y02(e1.z, e1.x, fez1, fex1); \
- AXISTEST_Z0(e1.y, e1.x, fey1, fex1); \
- \
- const IcePoint e2 = mLeafVerts[0] - mLeafVerts[2]; \
- const float fey2 = fabsf(e2.y); \
- const float fez2 = fabsf(e2.z); \
- AXISTEST_X2(e2.z, e2.y, fez2, fey2); \
- const float fex2 = fabsf(e2.x); \
- AXISTEST_Y1(e2.z, e2.x, fez2, fex2); \
- AXISTEST_Z12(e2.y, e2.x, fey2, fex2);
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Triangle-Box overlap test using the separating axis theorem.
- * This is the code from Tomas Möller, a bit optimized:
- * - with some more lazy evaluation (faster path on PC)
- * - with a tiny bit of assembly
- * - with "SAT-lite" applied if needed
- * - and perhaps with some more minor modifs...
- *
- * \param center [in] box center
- * \param extents [in] box extents
- * \return true if triangle & box overlap
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL AABBTreeCollider::TriBoxOverlap(const IcePoint& center, const IcePoint& extents)
-{
- // Stats
- mNbBVPrimTests++;
-
- // use separating axis theorem to test overlap between triangle and box
- // need to test for overlap in these directions:
- // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle
- // we do not even need to test these)
- // 2) normal of the triangle
- // 3) crossproduct(edge from tri, {x,y,z}-directin)
- // this gives 3x3=9 more tests
-
- // move everything so that the boxcenter is in (0,0,0)
- IcePoint v0, v1, v2;
- v0.x = mLeafVerts[0].x - center.x;
- v1.x = mLeafVerts[1].x - center.x;
- v2.x = mLeafVerts[2].x - center.x;
-
- // First, test overlap in the {x,y,z}-directions
-#ifdef OPC_USE_FCOMI
- // find min, max of the triangle in x-direction, and test for overlap in X
- if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE;
- if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE;
-
- // same for Y
- v0.y = mLeafVerts[0].y - center.y;
- v1.y = mLeafVerts[1].y - center.y;
- v2.y = mLeafVerts[2].y - center.y;
-
- if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE;
- if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE;
-
- // same for Z
- v0.z = mLeafVerts[0].z - center.z;
- v1.z = mLeafVerts[1].z - center.z;
- v2.z = mLeafVerts[2].z - center.z;
-
- if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE;
- if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE;
-#else
- float min,max;
- // Find min, max of the triangle in x-direction, and test for overlap in X
- FINDMINMAX(v0.x, v1.x, v2.x, min, max);
- if(min>extents.x || max<-extents.x) return FALSE;
-
- // Same for Y
- v0.y = mLeafVerts[0].y - center.y;
- v1.y = mLeafVerts[1].y - center.y;
- v2.y = mLeafVerts[2].y - center.y;
-
- FINDMINMAX(v0.y, v1.y, v2.y, min, max);
- if(min>extents.y || max<-extents.y) return FALSE;
-
- // Same for Z
- v0.z = mLeafVerts[0].z - center.z;
- v1.z = mLeafVerts[1].z - center.z;
- v2.z = mLeafVerts[2].z - center.z;
-
- FINDMINMAX(v0.z, v1.z, v2.z, min, max);
- if(min>extents.z || max<-extents.z) return FALSE;
-#endif
- // 2) Test if the box intersects the plane of the triangle
- // compute plane equation of triangle: normal*x+d=0
- // ### could be precomputed since we use the same leaf triangle several times
- const IcePoint e0 = v1 - v0;
- const IcePoint e1 = v2 - v1;
- const IcePoint normal = e0 ^ e1;
- const float d = -normal|v0;
- if(!planeBoxOverlap(normal, d, extents)) return FALSE;
-
- // 3) "Class III" tests
- if(mFullPrimBoxTest)
- {
- IMPLEMENT_CLASS3_TESTS
- }
- return TRUE;
-}
-
-//! A dedicated version where the box is constant
-inline_ BOOL OBBCollider::TriBoxOverlap()
-{
- // Stats
- mNbVolumePrimTests++;
-
- // Hook
- const IcePoint& extents = mBoxExtents;
- const IcePoint& v0 = mLeafVerts[0];
- const IcePoint& v1 = mLeafVerts[1];
- const IcePoint& v2 = mLeafVerts[2];
-
- // use separating axis theorem to test overlap between triangle and box
- // need to test for overlap in these directions:
- // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle
- // we do not even need to test these)
- // 2) normal of the triangle
- // 3) crossproduct(edge from tri, {x,y,z}-directin)
- // this gives 3x3=9 more tests
-
- // Box center is already in (0,0,0)
-
- // First, test overlap in the {x,y,z}-directions
-#ifdef OPC_USE_FCOMI
- // find min, max of the triangle in x-direction, and test for overlap in X
- if(FCMin3(v0.x, v1.x, v2.x)>mBoxExtents.x) return FALSE;
- if(FCMax3(v0.x, v1.x, v2.x)<-mBoxExtents.x) return FALSE;
-
- if(FCMin3(v0.y, v1.y, v2.y)>mBoxExtents.y) return FALSE;
- if(FCMax3(v0.y, v1.y, v2.y)<-mBoxExtents.y) return FALSE;
-
- if(FCMin3(v0.z, v1.z, v2.z)>mBoxExtents.z) return FALSE;
- if(FCMax3(v0.z, v1.z, v2.z)<-mBoxExtents.z) return FALSE;
-#else
- float min,max;
- // Find min, max of the triangle in x-direction, and test for overlap in X
- FINDMINMAX(v0.x, v1.x, v2.x, min, max);
- if(min>mBoxExtents.x || max<-mBoxExtents.x) return FALSE;
-
- FINDMINMAX(v0.y, v1.y, v2.y, min, max);
- if(min>mBoxExtents.y || max<-mBoxExtents.y) return FALSE;
-
- FINDMINMAX(v0.z, v1.z, v2.z, min, max);
- if(min>mBoxExtents.z || max<-mBoxExtents.z) return FALSE;
-#endif
- // 2) Test if the box intersects the plane of the triangle
- // compute plane equation of triangle: normal*x+d=0
- // ### could be precomputed since we use the same leaf triangle several times
- const IcePoint e0 = v1 - v0;
- const IcePoint e1 = v2 - v1;
- const IcePoint normal = e0 ^ e1;
- const float d = -normal|v0;
- if(!planeBoxOverlap(normal, d, mBoxExtents)) return FALSE;
-
- // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV)
- {
- IMPLEMENT_CLASS3_TESTS
- }
- return TRUE;
-}
-
-//! ...and another one, jeez
-inline_ BOOL AABBCollider::TriBoxOverlap()
-{
- // Stats
- mNbVolumePrimTests++;
-
- // Hook
- const IcePoint& center = mBox.mCenter;
- const IcePoint& extents = mBox.mExtents;
-
- // use separating axis theorem to test overlap between triangle and box
- // need to test for overlap in these directions:
- // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle
- // we do not even need to test these)
- // 2) normal of the triangle
- // 3) crossproduct(edge from tri, {x,y,z}-directin)
- // this gives 3x3=9 more tests
-
- // move everything so that the boxcenter is in (0,0,0)
- IcePoint v0, v1, v2;
- v0.x = mLeafVerts[0].x - center.x;
- v1.x = mLeafVerts[1].x - center.x;
- v2.x = mLeafVerts[2].x - center.x;
-
- // First, test overlap in the {x,y,z}-directions
-#ifdef OPC_USE_FCOMI
- // find min, max of the triangle in x-direction, and test for overlap in X
- if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE;
- if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE;
-
- // same for Y
- v0.y = mLeafVerts[0].y - center.y;
- v1.y = mLeafVerts[1].y - center.y;
- v2.y = mLeafVerts[2].y - center.y;
-
- if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE;
- if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE;
-
- // same for Z
- v0.z = mLeafVerts[0].z - center.z;
- v1.z = mLeafVerts[1].z - center.z;
- v2.z = mLeafVerts[2].z - center.z;
-
- if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE;
- if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE;
-#else
- float min,max;
- // Find min, max of the triangle in x-direction, and test for overlap in X
- FINDMINMAX(v0.x, v1.x, v2.x, min, max);
- if(min>extents.x || max<-extents.x) return FALSE;
-
- // Same for Y
- v0.y = mLeafVerts[0].y - center.y;
- v1.y = mLeafVerts[1].y - center.y;
- v2.y = mLeafVerts[2].y - center.y;
-
- FINDMINMAX(v0.y, v1.y, v2.y, min, max);
- if(min>extents.y || max<-extents.y) return FALSE;
-
- // Same for Z
- v0.z = mLeafVerts[0].z - center.z;
- v1.z = mLeafVerts[1].z - center.z;
- v2.z = mLeafVerts[2].z - center.z;
-
- FINDMINMAX(v0.z, v1.z, v2.z, min, max);
- if(min>extents.z || max<-extents.z) return FALSE;
-#endif
- // 2) Test if the box intersects the plane of the triangle
- // compute plane equation of triangle: normal*x+d=0
- // ### could be precomputed since we use the same leaf triangle several times
- const IcePoint e0 = v1 - v0;
- const IcePoint e1 = v2 - v1;
- const IcePoint normal = e0 ^ e1;
- const float d = -normal|v0;
- if(!planeBoxOverlap(normal, d, extents)) return FALSE;
-
- // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV)
- {
- IMPLEMENT_CLASS3_TESTS
- }
- return TRUE;
-}
+ +//! This macro quickly finds the min & max values among 3 variables +#define FINDMINMAX(x0, x1, x2, min, max) \ + min = max = x0; \ + if(x1<min) min=x1; \ + if(x1>max) max=x1; \ + if(x2<min) min=x2; \ + if(x2>max) max=x2; + +//! TO BE DOCUMENTED +inline_ BOOL planeBoxOverlap(const IcePoint& normal, const float d, const IcePoint& maxbox) +{ + IcePoint vmin, vmax; + for(udword q=0;q<=2;q++) + { + if(normal[q]>0.0f) { vmin[q]=-maxbox[q]; vmax[q]=maxbox[q]; } + else { vmin[q]=maxbox[q]; vmax[q]=-maxbox[q]; } + } + if((normal|vmin)+d>0.0f) return FALSE; + if((normal|vmax)+d>=0.0f) return TRUE; + + return FALSE; +} + +//! TO BE DOCUMENTED +#define AXISTEST_X01(a, b, fa, fb) \ + min = a*v0.y - b*v0.z; \ + max = a*v2.y - b*v2.z; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.y + fb * extents.z; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_X2(a, b, fa, fb) \ + min = a*v0.y - b*v0.z; \ + max = a*v1.y - b*v1.z; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.y + fb * extents.z; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_Y02(a, b, fa, fb) \ + min = b*v0.z - a*v0.x; \ + max = b*v2.z - a*v2.x; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.x + fb * extents.z; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_Y1(a, b, fa, fb) \ + min = b*v0.z - a*v0.x; \ + max = b*v1.z - a*v1.x; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.x + fb * extents.z; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_Z12(a, b, fa, fb) \ + min = a*v1.x - b*v1.y; \ + max = a*v2.x - b*v2.y; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.x + fb * extents.y; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_Z0(a, b, fa, fb) \ + min = a*v0.x - b*v0.y; \ + max = a*v1.x - b*v1.y; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.x + fb * extents.y; \ + if(min>rad || max<-rad) return FALSE; + +// compute triangle edges +// - edges lazy evaluated to take advantage of early exits +// - fabs precomputed (half less work, possible since extents are always >0) +// - customized macros to take advantage of the null component +// - axis vector discarded, possibly saves useless movs +#define IMPLEMENT_CLASS3_TESTS \ + float rad; \ + float min, max; \ + \ + const float fey0 = fabsf(e0.y); \ + const float fez0 = fabsf(e0.z); \ + AXISTEST_X01(e0.z, e0.y, fez0, fey0); \ + const float fex0 = fabsf(e0.x); \ + AXISTEST_Y02(e0.z, e0.x, fez0, fex0); \ + AXISTEST_Z12(e0.y, e0.x, fey0, fex0); \ + \ + const float fey1 = fabsf(e1.y); \ + const float fez1 = fabsf(e1.z); \ + AXISTEST_X01(e1.z, e1.y, fez1, fey1); \ + const float fex1 = fabsf(e1.x); \ + AXISTEST_Y02(e1.z, e1.x, fez1, fex1); \ + AXISTEST_Z0(e1.y, e1.x, fey1, fex1); \ + \ + const IcePoint e2 = mLeafVerts[0] - mLeafVerts[2]; \ + const float fey2 = fabsf(e2.y); \ + const float fez2 = fabsf(e2.z); \ + AXISTEST_X2(e2.z, e2.y, fez2, fey2); \ + const float fex2 = fabsf(e2.x); \ + AXISTEST_Y1(e2.z, e2.x, fez2, fex2); \ + AXISTEST_Z12(e2.y, e2.x, fey2, fex2); + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Triangle-Box overlap test using the separating axis theorem. + * This is the code from Tomas Möller, a bit optimized: + * - with some more lazy evaluation (faster path on PC) + * - with a tiny bit of assembly + * - with "SAT-lite" applied if needed + * - and perhaps with some more minor modifs... + * + * \param center [in] box center + * \param extents [in] box extents + * \return true if triangle & box overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL AABBTreeCollider::TriBoxOverlap(const IcePoint& center, const IcePoint& extents) +{ + // Stats + mNbBVPrimTests++; + + // use separating axis theorem to test overlap between triangle and box + // need to test for overlap in these directions: + // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle + // we do not even need to test these) + // 2) normal of the triangle + // 3) crossproduct(edge from tri, {x,y,z}-directin) + // this gives 3x3=9 more tests + + // move everything so that the boxcenter is in (0,0,0) + IcePoint v0, v1, v2; + v0.x = mLeafVerts[0].x - center.x; + v1.x = mLeafVerts[1].x - center.x; + v2.x = mLeafVerts[2].x - center.x; + + // First, test overlap in the {x,y,z}-directions +#ifdef OPC_USE_FCOMI + // find min, max of the triangle in x-direction, and test for overlap in X + if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE; + if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE; + + // same for Y + v0.y = mLeafVerts[0].y - center.y; + v1.y = mLeafVerts[1].y - center.y; + v2.y = mLeafVerts[2].y - center.y; + + if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE; + if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE; + + // same for Z + v0.z = mLeafVerts[0].z - center.z; + v1.z = mLeafVerts[1].z - center.z; + v2.z = mLeafVerts[2].z - center.z; + + if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE; + if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE; +#else + float min,max; + // Find min, max of the triangle in x-direction, and test for overlap in X + FINDMINMAX(v0.x, v1.x, v2.x, min, max); + if(min>extents.x || max<-extents.x) return FALSE; + + // Same for Y + v0.y = mLeafVerts[0].y - center.y; + v1.y = mLeafVerts[1].y - center.y; + v2.y = mLeafVerts[2].y - center.y; + + FINDMINMAX(v0.y, v1.y, v2.y, min, max); + if(min>extents.y || max<-extents.y) return FALSE; + + // Same for Z + v0.z = mLeafVerts[0].z - center.z; + v1.z = mLeafVerts[1].z - center.z; + v2.z = mLeafVerts[2].z - center.z; + + FINDMINMAX(v0.z, v1.z, v2.z, min, max); + if(min>extents.z || max<-extents.z) return FALSE; +#endif + // 2) Test if the box intersects the plane of the triangle + // compute plane equation of triangle: normal*x+d=0 + // ### could be precomputed since we use the same leaf triangle several times + const IcePoint e0 = v1 - v0; + const IcePoint e1 = v2 - v1; + const IcePoint normal = e0 ^ e1; + const float d = -normal|v0; + if(!planeBoxOverlap(normal, d, extents)) return FALSE; + + // 3) "Class III" tests + if(mFullPrimBoxTest) + { + IMPLEMENT_CLASS3_TESTS + } + return TRUE; +} + +//! A dedicated version where the box is constant +inline_ BOOL OBBCollider::TriBoxOverlap() +{ + // Stats + mNbVolumePrimTests++; + + // Hook + const IcePoint& extents = mBoxExtents; + const IcePoint& v0 = mLeafVerts[0]; + const IcePoint& v1 = mLeafVerts[1]; + const IcePoint& v2 = mLeafVerts[2]; + + // use separating axis theorem to test overlap between triangle and box + // need to test for overlap in these directions: + // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle + // we do not even need to test these) + // 2) normal of the triangle + // 3) crossproduct(edge from tri, {x,y,z}-directin) + // this gives 3x3=9 more tests + + // Box center is already in (0,0,0) + + // First, test overlap in the {x,y,z}-directions +#ifdef OPC_USE_FCOMI + // find min, max of the triangle in x-direction, and test for overlap in X + if(FCMin3(v0.x, v1.x, v2.x)>mBoxExtents.x) return FALSE; + if(FCMax3(v0.x, v1.x, v2.x)<-mBoxExtents.x) return FALSE; + + if(FCMin3(v0.y, v1.y, v2.y)>mBoxExtents.y) return FALSE; + if(FCMax3(v0.y, v1.y, v2.y)<-mBoxExtents.y) return FALSE; + + if(FCMin3(v0.z, v1.z, v2.z)>mBoxExtents.z) return FALSE; + if(FCMax3(v0.z, v1.z, v2.z)<-mBoxExtents.z) return FALSE; +#else + float min,max; + // Find min, max of the triangle in x-direction, and test for overlap in X + FINDMINMAX(v0.x, v1.x, v2.x, min, max); + if(min>mBoxExtents.x || max<-mBoxExtents.x) return FALSE; + + FINDMINMAX(v0.y, v1.y, v2.y, min, max); + if(min>mBoxExtents.y || max<-mBoxExtents.y) return FALSE; + + FINDMINMAX(v0.z, v1.z, v2.z, min, max); + if(min>mBoxExtents.z || max<-mBoxExtents.z) return FALSE; +#endif + // 2) Test if the box intersects the plane of the triangle + // compute plane equation of triangle: normal*x+d=0 + // ### could be precomputed since we use the same leaf triangle several times + const IcePoint e0 = v1 - v0; + const IcePoint e1 = v2 - v1; + const IcePoint normal = e0 ^ e1; + const float d = -normal|v0; + if(!planeBoxOverlap(normal, d, mBoxExtents)) return FALSE; + + // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) + { + IMPLEMENT_CLASS3_TESTS + } + return TRUE; +} + +//! ...and another one, jeez +inline_ BOOL AABBCollider::TriBoxOverlap() +{ + // Stats + mNbVolumePrimTests++; + + // Hook + const IcePoint& center = mBox.mCenter; + const IcePoint& extents = mBox.mExtents; + + // use separating axis theorem to test overlap between triangle and box + // need to test for overlap in these directions: + // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle + // we do not even need to test these) + // 2) normal of the triangle + // 3) crossproduct(edge from tri, {x,y,z}-directin) + // this gives 3x3=9 more tests + + // move everything so that the boxcenter is in (0,0,0) + IcePoint v0, v1, v2; + v0.x = mLeafVerts[0].x - center.x; + v1.x = mLeafVerts[1].x - center.x; + v2.x = mLeafVerts[2].x - center.x; + + // First, test overlap in the {x,y,z}-directions +#ifdef OPC_USE_FCOMI + // find min, max of the triangle in x-direction, and test for overlap in X + if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE; + if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE; + + // same for Y + v0.y = mLeafVerts[0].y - center.y; + v1.y = mLeafVerts[1].y - center.y; + v2.y = mLeafVerts[2].y - center.y; + + if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE; + if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE; + + // same for Z + v0.z = mLeafVerts[0].z - center.z; + v1.z = mLeafVerts[1].z - center.z; + v2.z = mLeafVerts[2].z - center.z; + + if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE; + if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE; +#else + float min,max; + // Find min, max of the triangle in x-direction, and test for overlap in X + FINDMINMAX(v0.x, v1.x, v2.x, min, max); + if(min>extents.x || max<-extents.x) return FALSE; + + // Same for Y + v0.y = mLeafVerts[0].y - center.y; + v1.y = mLeafVerts[1].y - center.y; + v2.y = mLeafVerts[2].y - center.y; + + FINDMINMAX(v0.y, v1.y, v2.y, min, max); + if(min>extents.y || max<-extents.y) return FALSE; + + // Same for Z + v0.z = mLeafVerts[0].z - center.z; + v1.z = mLeafVerts[1].z - center.z; + v2.z = mLeafVerts[2].z - center.z; + + FINDMINMAX(v0.z, v1.z, v2.z, min, max); + if(min>extents.z || max<-extents.z) return FALSE; +#endif + // 2) Test if the box intersects the plane of the triangle + // compute plane equation of triangle: normal*x+d=0 + // ### could be precomputed since we use the same leaf triangle several times + const IcePoint e0 = v1 - v0; + const IcePoint e1 = v2 - v1; + const IcePoint normal = e0 ^ e1; + const float d = -normal|v0; + if(!planeBoxOverlap(normal, d, extents)) return FALSE; + + // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) + { + IMPLEMENT_CLASS3_TESTS + } + return TRUE; +} diff --git a/Opcode/OPC_TriTriOverlap.h b/Opcode/OPC_TriTriOverlap.h index 1789566..a9ee9c5 100644 --- a/Opcode/OPC_TriTriOverlap.h +++ b/Opcode/OPC_TriTriOverlap.h @@ -1,279 +1,279 @@ -
-//! if OPC_TRITRI_EPSILON_TEST is true then we do a check (if |dv|<EPSILON then dv=0.0;) else no check is done (which is less robust, but faster)
-#define LOCAL_EPSILON 0.000001f
-
-//! sort so that a<=b
-#define SORT(a,b) \
- if(a>b) \
- { \
- const float c=a; \
- a=b; \
- b=c; \
- }
-
-//! Edge to edge test based on Franlin Antonio's gem: "Faster Line IceSegment 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>0.0f && d>=0.0f && d<=f) || (f<0.0f && d<=0.0f && d>=f)) \
- { \
- const float e=Ax*Cy - Ay*Cx; \
- if(f>0.0f) \
- { \
- if(e>=0.0f && e<=f) return TRUE; \
- } \
- else \
- { \
- if(e<=0.0f && e>=f) return TRUE; \
- } \
- }
-
-//! TO BE DOCUMENTED
-#define EDGE_AGAINST_TRI_EDGES(V0, V1, U0, U1, U2) \
-{ \
- float Bx,By,Cx,Cy,d,f; \
- const float Ax = V1[i0] - V0[i0]; \
- const float 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); \
-}
-
-//! TO BE DOCUMENTED
-#define POINT_IN_TRI(V0, U0, U1, U2) \
-{ \
- /* is T1 completly inside T2? */ \
- /* check if V0 is inside tri(U0,U1,U2) */ \
- float a = U1[i1] - U0[i1]; \
- float b = -(U1[i0] - U0[i0]); \
- float c = -a*U0[i0] - b*U0[i1]; \
- float 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]; \
- const float 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]; \
- const float d2 = a*V0[i0] + b*V0[i1] + c; \
- if(d0*d1>0.0f) \
- { \
- if(d0*d2>0.0f) return TRUE; \
- } \
-}
-
-//! TO BE DOCUMENTED
-BOOL CoplanarTriTri(const IcePoint& n, const IcePoint& v0, const IcePoint& v1, const IcePoint& v2, const IcePoint& u0, const IcePoint& u1, const IcePoint& u2)
-{
- float A[3];
- short i0,i1;
- /* first project onto an axis-aligned plane, that maximizes the area */
- /* of the triangles, compute indices: i0,i1. */
- A[0] = fabsf(n[0]);
- A[1] = fabsf(n[1]);
- A[2] = fabsf(n[2]);
- if(A[0]>A[1])
- {
- if(A[0]>A[2])
- {
- i0=1; /* A[0] is greatest */
- i1=2;
- }
- else
- {
- i0=0; /* A[2] is greatest */
- i1=1;
- }
- }
- else /* A[0]<=A[1] */
- {
- if(A[2]>A[1])
- {
- i0=0; /* A[2] is greatest */
- i1=1;
- }
- else
- {
- i0=0; /* A[1] is greatest */
- i1=2;
- }
- }
-
- /* test all edges of triangle 1 against the edges of triangle 2 */
- EDGE_AGAINST_TRI_EDGES(v0, v1, u0, u1, u2);
- EDGE_AGAINST_TRI_EDGES(v1, v2, u0, u1, u2);
- EDGE_AGAINST_TRI_EDGES(v2, v0, u0, u1, u2);
-
- /* finally, test if tri1 is totally contained in tri2 or vice versa */
- POINT_IN_TRI(v0, u0, u1, u2);
- POINT_IN_TRI(u0, v0, v1, v2);
-
- return FALSE;
-}
-
-//! TO BE DOCUMENTED
-#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 CoplanarTriTri(N1, V0, V1, V2, U0, U1, U2); \
- } \
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Triangle/triangle intersection test routine,
- * by Tomas Moller, 1997.
- * See article "A Fast Triangle-Triangle Intersection Test",
- * Journal of Graphics Tools, 2(2), 1997
- *
- * Updated June 1999: removed the divisions -- a little faster now!
- * Updated October 1999: added {} to CROSS and SUB macros
- *
- * int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3],
- * float U0[3],float U1[3],float U2[3])
- *
- * \param V0 [in] triangle 0, vertex 0
- * \param V1 [in] triangle 0, vertex 1
- * \param V2 [in] triangle 0, vertex 2
- * \param U0 [in] triangle 1, vertex 0
- * \param U1 [in] triangle 1, vertex 1
- * \param U2 [in] triangle 1, vertex 2
- * \return true if triangles overlap
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL AABBTreeCollider::TriTriOverlap(const IcePoint& V0, const IcePoint& V1, const IcePoint& V2, const IcePoint& U0, const IcePoint& U1, const IcePoint& U2)
-{
- // Stats
- mNbPrimPrimTests++;
-
- // Compute plane equation of triangle(V0,V1,V2)
- IcePoint E1 = V1 - V0;
- IcePoint E2 = V2 - V0;
- const IcePoint N1 = E1 ^ E2;
- const float d1 =-N1 | V0;
- // IcePlane equation 1: N1.X+d1=0
-
- // Put U0,U1,U2 into plane equation 1 to compute signed distances to the plane
- float du0 = (N1|U0) + d1;
- float du1 = (N1|U1) + d1;
- float du2 = (N1|U2) + d1;
-
- // Coplanarity robustness check
-#ifdef OPC_TRITRI_EPSILON_TEST
- if(fabsf(du0)<LOCAL_EPSILON) du0 = 0.0f;
- if(fabsf(du1)<LOCAL_EPSILON) du1 = 0.0f;
- if(fabsf(du2)<LOCAL_EPSILON) du2 = 0.0f;
-#endif
- const float du0du1 = du0 * du1;
- const float du0du2 = du0 * du2;
-
- if(du0du1>0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ?
- return FALSE; // no intersection occurs
-
- // Compute plane of triangle (U0,U1,U2)
- E1 = U1 - U0;
- E2 = U2 - U0;
- const IcePoint N2 = E1 ^ E2;
- const float d2=-N2 | U0;
- // plane equation 2: N2.X+d2=0
-
- // put V0,V1,V2 into plane equation 2
- float dv0 = (N2|V0) + d2;
- float dv1 = (N2|V1) + d2;
- float dv2 = (N2|V2) + d2;
-
-#ifdef OPC_TRITRI_EPSILON_TEST
- if(fabsf(dv0)<LOCAL_EPSILON) dv0 = 0.0f;
- if(fabsf(dv1)<LOCAL_EPSILON) dv1 = 0.0f;
- if(fabsf(dv2)<LOCAL_EPSILON) dv2 = 0.0f;
-#endif
-
- const float dv0dv1 = dv0 * dv1;
- const float dv0dv2 = dv0 * dv2;
-
- if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ?
- return FALSE; // no intersection occurs
-
- // Compute direction of intersection line
- const IcePoint D = N1^N2;
-
- // Compute and index to the largest component of D
- float max=fabsf(D[0]);
- short index=0;
- float bb=fabsf(D[1]);
- float cc=fabsf(D[2]);
- if(bb>max) max=bb,index=1;
- if(cc>max) max=cc,index=2;
-
- // This is the simplified projection onto L
- const float vp0 = V0[index];
- const float vp1 = V1[index];
- const float vp2 = V2[index];
-
- const float up0 = U0[index];
- const float up1 = U1[index];
- const float up2 = U2[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);
-
- const float xx=x0*x1;
- const float yy=y0*y1;
- const float xxyy=xx*yy;
-
- float isect1[2], isect2[2];
-
- float 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]<isect2[0] || isect2[1]<isect1[0]) return FALSE;
- return TRUE;
-}
+ +//! if OPC_TRITRI_EPSILON_TEST is true then we do a check (if |dv|<EPSILON then dv=0.0;) else no check is done (which is less robust, but faster) +#define LOCAL_EPSILON 0.000001f + +//! sort so that a<=b +#define SORT(a,b) \ + if(a>b) \ + { \ + const float c=a; \ + a=b; \ + b=c; \ + } + +//! Edge to edge test based on Franlin Antonio's gem: "Faster Line IceSegment 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>0.0f && d>=0.0f && d<=f) || (f<0.0f && d<=0.0f && d>=f)) \ + { \ + const float e=Ax*Cy - Ay*Cx; \ + if(f>0.0f) \ + { \ + if(e>=0.0f && e<=f) return TRUE; \ + } \ + else \ + { \ + if(e<=0.0f && e>=f) return TRUE; \ + } \ + } + +//! TO BE DOCUMENTED +#define EDGE_AGAINST_TRI_EDGES(V0, V1, U0, U1, U2) \ +{ \ + float Bx,By,Cx,Cy,d,f; \ + const float Ax = V1[i0] - V0[i0]; \ + const float 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); \ +} + +//! TO BE DOCUMENTED +#define POINT_IN_TRI(V0, U0, U1, U2) \ +{ \ + /* is T1 completly inside T2? */ \ + /* check if V0 is inside tri(U0,U1,U2) */ \ + float a = U1[i1] - U0[i1]; \ + float b = -(U1[i0] - U0[i0]); \ + float c = -a*U0[i0] - b*U0[i1]; \ + float 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]; \ + const float 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]; \ + const float d2 = a*V0[i0] + b*V0[i1] + c; \ + if(d0*d1>0.0f) \ + { \ + if(d0*d2>0.0f) return TRUE; \ + } \ +} + +//! TO BE DOCUMENTED +BOOL CoplanarTriTri(const IcePoint& n, const IcePoint& v0, const IcePoint& v1, const IcePoint& v2, const IcePoint& u0, const IcePoint& u1, const IcePoint& u2) +{ + float A[3]; + short i0,i1; + /* first project onto an axis-aligned plane, that maximizes the area */ + /* of the triangles, compute indices: i0,i1. */ + A[0] = fabsf(n[0]); + A[1] = fabsf(n[1]); + A[2] = fabsf(n[2]); + if(A[0]>A[1]) + { + if(A[0]>A[2]) + { + i0=1; /* A[0] is greatest */ + i1=2; + } + else + { + i0=0; /* A[2] is greatest */ + i1=1; + } + } + else /* A[0]<=A[1] */ + { + if(A[2]>A[1]) + { + i0=0; /* A[2] is greatest */ + i1=1; + } + else + { + i0=0; /* A[1] is greatest */ + i1=2; + } + } + + /* test all edges of triangle 1 against the edges of triangle 2 */ + EDGE_AGAINST_TRI_EDGES(v0, v1, u0, u1, u2); + EDGE_AGAINST_TRI_EDGES(v1, v2, u0, u1, u2); + EDGE_AGAINST_TRI_EDGES(v2, v0, u0, u1, u2); + + /* finally, test if tri1 is totally contained in tri2 or vice versa */ + POINT_IN_TRI(v0, u0, u1, u2); + POINT_IN_TRI(u0, v0, v1, v2); + + return FALSE; +} + +//! TO BE DOCUMENTED +#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 CoplanarTriTri(N1, V0, V1, V2, U0, U1, U2); \ + } \ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Triangle/triangle intersection test routine, + * by Tomas Moller, 1997. + * See article "A Fast Triangle-Triangle Intersection Test", + * Journal of Graphics Tools, 2(2), 1997 + * + * Updated June 1999: removed the divisions -- a little faster now! + * Updated October 1999: added {} to CROSS and SUB macros + * + * int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3], + * float U0[3],float U1[3],float U2[3]) + * + * \param V0 [in] triangle 0, vertex 0 + * \param V1 [in] triangle 0, vertex 1 + * \param V2 [in] triangle 0, vertex 2 + * \param U0 [in] triangle 1, vertex 0 + * \param U1 [in] triangle 1, vertex 1 + * \param U2 [in] triangle 1, vertex 2 + * \return true if triangles overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL AABBTreeCollider::TriTriOverlap(const IcePoint& V0, const IcePoint& V1, const IcePoint& V2, const IcePoint& U0, const IcePoint& U1, const IcePoint& U2) +{ + // Stats + mNbPrimPrimTests++; + + // Compute plane equation of triangle(V0,V1,V2) + IcePoint E1 = V1 - V0; + IcePoint E2 = V2 - V0; + const IcePoint N1 = E1 ^ E2; + const float d1 =-N1 | V0; + // IcePlane equation 1: N1.X+d1=0 + + // Put U0,U1,U2 into plane equation 1 to compute signed distances to the plane + float du0 = (N1|U0) + d1; + float du1 = (N1|U1) + d1; + float du2 = (N1|U2) + d1; + + // Coplanarity robustness check +#ifdef OPC_TRITRI_EPSILON_TEST + if(fabsf(du0)<LOCAL_EPSILON) du0 = 0.0f; + if(fabsf(du1)<LOCAL_EPSILON) du1 = 0.0f; + if(fabsf(du2)<LOCAL_EPSILON) du2 = 0.0f; +#endif + const float du0du1 = du0 * du1; + const float du0du2 = du0 * du2; + + if(du0du1>0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ? + return FALSE; // no intersection occurs + + // Compute plane of triangle (U0,U1,U2) + E1 = U1 - U0; + E2 = U2 - U0; + const IcePoint N2 = E1 ^ E2; + const float d2=-N2 | U0; + // plane equation 2: N2.X+d2=0 + + // put V0,V1,V2 into plane equation 2 + float dv0 = (N2|V0) + d2; + float dv1 = (N2|V1) + d2; + float dv2 = (N2|V2) + d2; + +#ifdef OPC_TRITRI_EPSILON_TEST + if(fabsf(dv0)<LOCAL_EPSILON) dv0 = 0.0f; + if(fabsf(dv1)<LOCAL_EPSILON) dv1 = 0.0f; + if(fabsf(dv2)<LOCAL_EPSILON) dv2 = 0.0f; +#endif + + const float dv0dv1 = dv0 * dv1; + const float dv0dv2 = dv0 * dv2; + + if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ? + return FALSE; // no intersection occurs + + // Compute direction of intersection line + const IcePoint D = N1^N2; + + // Compute and index to the largest component of D + float max=fabsf(D[0]); + short index=0; + float bb=fabsf(D[1]); + float cc=fabsf(D[2]); + if(bb>max) max=bb,index=1; + if(cc>max) max=cc,index=2; + + // This is the simplified projection onto L + const float vp0 = V0[index]; + const float vp1 = V1[index]; + const float vp2 = V2[index]; + + const float up0 = U0[index]; + const float up1 = U1[index]; + const float up2 = U2[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); + + const float xx=x0*x1; + const float yy=y0*y1; + const float xxyy=xx*yy; + + float isect1[2], isect2[2]; + + float 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]<isect2[0] || isect2[1]<isect1[0]) return FALSE; + return TRUE; +} diff --git a/Opcode/OPC_VolumeCollider.cpp b/Opcode/OPC_VolumeCollider.cpp index dd61046..8278197 100644 --- a/Opcode/OPC_VolumeCollider.cpp +++ b/Opcode/OPC_VolumeCollider.cpp @@ -1,103 +1,103 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains base volume collider class.
- * \file OPC_VolumeCollider.cpp
- * \author Pierre Terdiman
- * \date June, 2, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains the abstract class for volume colliders.
- *
- * \class VolumeCollider
- * \author Pierre Terdiman
- * \version 1.3
- * \date June, 2, 2001
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-VolumeCollider::VolumeCollider() :
- mTouchedPrimitives (null),
- mNbVolumeBVTests (0),
- mNbVolumePrimTests (0)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-VolumeCollider::~VolumeCollider()
-{
- mTouchedPrimitives = null;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider.
- * \return null if everything is ok, else a string describing the problem
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-const char* VolumeCollider::ValidateSettings()
-{
- return null;
-}
-
-// Pretty dumb way to dump - to do better - one day...
-
-#define IMPLEMENT_NOLEAFDUMP(type) \
-void VolumeCollider::_Dump(const type* node) \
-{ \
- if(node->HasPosLeaf()) mTouchedPrimitives->Add(node->GetPosPrimitive()); \
- else _Dump(node->GetPos()); \
- \
- if(ContactFound()) return; \
- \
- if(node->HasNegLeaf()) mTouchedPrimitives->Add(node->GetNegPrimitive()); \
- else _Dump(node->GetNeg()); \
-}
-
-#define IMPLEMENT_LEAFDUMP(type) \
-void VolumeCollider::_Dump(const type* node) \
-{ \
- if(node->IsLeaf()) \
- { \
- mTouchedPrimitives->Add(node->GetPrimitive()); \
- } \
- else \
- { \
- _Dump(node->GetPos()); \
- \
- if(ContactFound()) return; \
- \
- _Dump(node->GetNeg()); \
- } \
-}
-
-IMPLEMENT_NOLEAFDUMP(AABBNoLeafNode)
-IMPLEMENT_NOLEAFDUMP(AABBQuantizedNoLeafNode)
-
-IMPLEMENT_LEAFDUMP(AABBCollisionNode)
-IMPLEMENT_LEAFDUMP(AABBQuantizedNode)
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base volume collider class. + * \file OPC_VolumeCollider.cpp + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains the abstract class for volume colliders. + * + * \class VolumeCollider + * \author Pierre Terdiman + * \version 1.3 + * \date June, 2, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +VolumeCollider::VolumeCollider() : + mTouchedPrimitives (null), + mNbVolumeBVTests (0), + mNbVolumePrimTests (0) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +VolumeCollider::~VolumeCollider() +{ + mTouchedPrimitives = null; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const char* VolumeCollider::ValidateSettings() +{ + return null; +} + +// Pretty dumb way to dump - to do better - one day... + +#define IMPLEMENT_NOLEAFDUMP(type) \ +void VolumeCollider::_Dump(const type* node) \ +{ \ + if(node->HasPosLeaf()) mTouchedPrimitives->Add(node->GetPosPrimitive()); \ + else _Dump(node->GetPos()); \ + \ + if(ContactFound()) return; \ + \ + if(node->HasNegLeaf()) mTouchedPrimitives->Add(node->GetNegPrimitive()); \ + else _Dump(node->GetNeg()); \ +} + +#define IMPLEMENT_LEAFDUMP(type) \ +void VolumeCollider::_Dump(const type* node) \ +{ \ + if(node->IsLeaf()) \ + { \ + mTouchedPrimitives->Add(node->GetPrimitive()); \ + } \ + else \ + { \ + _Dump(node->GetPos()); \ + \ + if(ContactFound()) return; \ + \ + _Dump(node->GetNeg()); \ + } \ +} + +IMPLEMENT_NOLEAFDUMP(AABBNoLeafNode) +IMPLEMENT_NOLEAFDUMP(AABBQuantizedNoLeafNode) + +IMPLEMENT_LEAFDUMP(AABBCollisionNode) +IMPLEMENT_LEAFDUMP(AABBQuantizedNode) diff --git a/Opcode/OPC_VolumeCollider.h b/Opcode/OPC_VolumeCollider.h index 5c39ea3..330f6a6 100644 --- a/Opcode/OPC_VolumeCollider.h +++ b/Opcode/OPC_VolumeCollider.h @@ -1,138 +1,138 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains base volume collider class.
- * \file OPC_VolumeCollider.h
- * \author Pierre Terdiman
- * \date June, 2, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPC_VOLUMECOLLIDER_H__
-#define __OPC_VOLUMECOLLIDER_H__
-
- struct OPCODE_API VolumeCache
- {
- VolumeCache() : Model(null) {}
- ~VolumeCache() {}
-
- Container TouchedPrimitives; //!< Indices of touched primitives
- const BaseModel* Model; //!< Owner
- };
-
- class OPCODE_API VolumeCollider : public Collider
- {
- public:
- // Constructor / Destructor
- VolumeCollider();
- virtual ~VolumeCollider() = 0;
-
- // Collision report
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the number of touched primitives after a collision query.
- * \see GetContactStatus()
- * \see GetTouchedPrimitives()
- * \return the number of touched primitives
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetNbEntries() : 0; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Gets the list of touched primitives after a collision query.
- * \see GetContactStatus()
- * \see GetNbTouchedPrimitives()
- * \return the list of touched primitives (primitive indices)
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ const udword* GetTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetEntries() : null; }
-
- // Stats
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Stats: gets the number of Volume-BV overlap tests after a collision query.
- * \see GetNbVolumePrimTests()
- * \return the number of Volume-BV tests performed during last query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbVolumeBVTests() const { return mNbVolumeBVTests; }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Stats: gets the number of Volume-Triangle overlap tests after a collision query.
- * \see GetNbVolumeBVTests()
- * \return the number of Volume-Triangle tests performed during last query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- inline_ udword GetNbVolumePrimTests() const { return mNbVolumePrimTests; }
-
- // Settings
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider.
- * \return null if everything is ok, else a string describing the problem
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(Collider) const char* ValidateSettings();
-
- protected:
- // Touched primitives
- Container* mTouchedPrimitives; //!< List of touched primitives
-
- // Dequantization coeffs
- IcePoint mCenterCoeff;
- IcePoint mExtentsCoeff;
- // Stats
- udword mNbVolumeBVTests; //!< Number of Volume-BV tests
- udword mNbVolumePrimTests; //!< Number of Volume-Primitive tests
- // Internal methods
- void _Dump(const AABBCollisionNode* node);
- void _Dump(const AABBNoLeafNode* node);
- void _Dump(const AABBQuantizedNode* node);
- void _Dump(const AABBQuantizedNoLeafNode* node);
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /**
- * Initializes a query
- */
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- override(Collider) inline_ void InitQuery()
- {
- // Reset stats & contact status
- mNbVolumeBVTests = 0;
- mNbVolumePrimTests = 0;
- Collider::InitQuery();
- }
-
- inline_ BOOL IsCacheValid(VolumeCache& cache)
- {
- // We're going to do a volume-vs-model query.
- if(cache.Model!=mCurrentModel)
- {
- // Cached list was for another model so we can't keep it
- // Keep track of new owner and reset cache
- cache.Model = mCurrentModel;
- return FALSE;
- }
- else
- {
- // Same models, no problem
- return TRUE;
- }
- }
- };
-
-#endif // __OPC_VOLUMECOLLIDER_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base volume collider class. + * \file OPC_VolumeCollider.h + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_VOLUMECOLLIDER_H__ +#define __OPC_VOLUMECOLLIDER_H__ + + struct OPCODE_API VolumeCache + { + VolumeCache() : Model(null) {} + ~VolumeCache() {} + + Container TouchedPrimitives; //!< Indices of touched primitives + const BaseModel* Model; //!< Owner + }; + + class OPCODE_API VolumeCollider : public Collider + { + public: + // Constructor / Destructor + VolumeCollider(); + virtual ~VolumeCollider() = 0; + + // Collision report + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of touched primitives after a collision query. + * \see GetContactStatus() + * \see GetTouchedPrimitives() + * \return the number of touched primitives + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetNbEntries() : 0; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the list of touched primitives after a collision query. + * \see GetContactStatus() + * \see GetNbTouchedPrimitives() + * \return the list of touched primitives (primitive indices) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const udword* GetTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetEntries() : null; } + + // Stats + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Volume-BV overlap tests after a collision query. + * \see GetNbVolumePrimTests() + * \return the number of Volume-BV tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbVolumeBVTests() const { return mNbVolumeBVTests; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Volume-Triangle overlap tests after a collision query. + * \see GetNbVolumeBVTests() + * \return the number of Volume-Triangle tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbVolumePrimTests() const { return mNbVolumePrimTests; } + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Touched primitives + Container* mTouchedPrimitives; //!< List of touched primitives + + // Dequantization coeffs + IcePoint mCenterCoeff; + IcePoint mExtentsCoeff; + // Stats + udword mNbVolumeBVTests; //!< Number of Volume-BV tests + udword mNbVolumePrimTests; //!< Number of Volume-Primitive tests + // Internal methods + void _Dump(const AABBCollisionNode* node); + void _Dump(const AABBNoLeafNode* node); + void _Dump(const AABBQuantizedNode* node); + void _Dump(const AABBQuantizedNoLeafNode* node); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Initializes a query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) inline_ void InitQuery() + { + // Reset stats & contact status + mNbVolumeBVTests = 0; + mNbVolumePrimTests = 0; + Collider::InitQuery(); + } + + inline_ BOOL IsCacheValid(VolumeCache& cache) + { + // We're going to do a volume-vs-model query. + if(cache.Model!=mCurrentModel) + { + // Cached list was for another model so we can't keep it + // Keep track of new owner and reset cache + cache.Model = mCurrentModel; + return FALSE; + } + else + { + // Same models, no problem + return TRUE; + } + } + }; + +#endif // __OPC_VOLUMECOLLIDER_H__ diff --git a/Opcode/Opcode.cpp b/Opcode/Opcode.cpp index 999e028..7a90153 100644 --- a/Opcode/Opcode.cpp +++ b/Opcode/Opcode.cpp @@ -1,65 +1,65 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Main file for Opcode.dll.
- * \file Opcode.cpp
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-/*
- Finding a good name is difficult!
- Here's the draft for this lib.... Spooky, uh?
-
- VOID? Very Optimized Interference Detection
- ZOID? Zappy's Optimized Interference Detection
- CID? Custom/Clever Interference Detection
- AID / ACID! Accurate Interference Detection
- QUID? Quick Interference Detection
- RIDE? Realtime Interference DEtection
- WIDE? Wicked Interference DEtection (....)
- GUID!
- KID ! k-dop interference detection :)
- OPCODE! OPtimized COllision DEtection
-*/
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-bool Opcode::InitOpcode()
-{
- Log("// Initializing OPCODE\n\n");
-// LogAPIInfo();
- return true;
-}
-
-void ReleasePruningSorters();
-bool Opcode::CloseOpcode()
-{
- Log("// Closing OPCODE\n\n");
-
- ReleasePruningSorters();
-
- return true;
-}
-
-#ifdef ICE_MAIN
-
-void ModuleAttach(HINSTANCE hinstance)
-{
-}
-
-void ModuleDetach()
-{
-}
-
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Main file for Opcode.dll. + * \file Opcode.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/* + Finding a good name is difficult! + Here's the draft for this lib.... Spooky, uh? + + VOID? Very Optimized Interference Detection + ZOID? Zappy's Optimized Interference Detection + CID? Custom/Clever Interference Detection + AID / ACID! Accurate Interference Detection + QUID? Quick Interference Detection + RIDE? Realtime Interference DEtection + WIDE? Wicked Interference DEtection (....) + GUID! + KID ! k-dop interference detection :) + OPCODE! OPtimized COllision DEtection +*/ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "StdAfx.h" + +bool Opcode::InitOpcode() +{ + Log("// Initializing OPCODE\n\n"); +// LogAPIInfo(); + return true; +} + +void ReleasePruningSorters(); +bool Opcode::CloseOpcode() +{ + Log("// Closing OPCODE\n\n"); + + ReleasePruningSorters(); + + return true; +} + +#ifdef ICE_MAIN + +void ModuleAttach(HINSTANCE hinstance) +{ +} + +void ModuleDetach() +{ +} + #endif
\ No newline at end of file diff --git a/Opcode/Opcode.h b/Opcode/Opcode.h index 33b0c5c..5dc8c91 100644 --- a/Opcode/Opcode.h +++ b/Opcode/Opcode.h @@ -1,68 +1,68 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Main file for Opcode.dll.
- * \file Opcode.h
- * \author Pierre Terdiman
- * \date March, 20, 2001
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Guard
-#ifndef __OPCODE_H__
-#define __OPCODE_H__
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Preprocessor
-#ifdef OPCODE_EXPORTS
- #define OPCODE_API __declspec(dllexport)
-#else
- #define OPCODE_API __declspec(dllimport)
-#endif
-
- #include "OPC_IceHook.h"
-
- namespace Opcode
- {
- // Bulk-of-the-work
- #include "OPC_Settings.h"
- #include "OPC_Common.h"
- #include "OPC_MeshInterface.h"
- // Builders
- #include "OPC_TreeBuilders.h"
- // Trees
- #include "OPC_AABBTree.h"
- #include "OPC_OptimizedTree.h"
- // Models
- #include "OPC_BaseModel.h"
- #include "OPC_Model.h"
- #include "OPC_HybridModel.h"
- // Colliders
- #include "OPC_Collider.h"
- #include "OPC_VolumeCollider.h"
- #include "OPC_TreeCollider.h"
- #include "OPC_RayCollider.h"
- #include "OPC_SphereCollider.h"
- #include "OPC_OBBCollider.h"
- #include "OPC_AABBCollider.h"
- #include "OPC_LSSCollider.h"
- #include "OPC_PlanesCollider.h"
- // Usages
- #include "OPC_Picking.h"
- // Sweep-and-prune
- #include "OPC_BoxPruning.h"
- #include "OPC_SweepAndPrune.h"
-
- FUNCTION OPCODE_API bool InitOpcode();
- FUNCTION OPCODE_API bool CloseOpcode();
- }
-
-#endif // __OPCODE_H__
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Main file for Opcode.dll. + * \file Opcode.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPCODE_H__ +#define __OPCODE_H__ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Preprocessor +#ifdef OPCODE_EXPORTS + #define OPCODE_API __declspec(dllexport) +#else + #define OPCODE_API __declspec(dllimport) +#endif + + #include "OPC_IceHook.h" + + namespace Opcode + { + // Bulk-of-the-work + #include "OPC_Settings.h" + #include "OPC_Common.h" + #include "OPC_MeshInterface.h" + // Builders + #include "OPC_TreeBuilders.h" + // Trees + #include "OPC_AABBTree.h" + #include "OPC_OptimizedTree.h" + // Models + #include "OPC_BaseModel.h" + #include "OPC_Model.h" + #include "OPC_HybridModel.h" + // Colliders + #include "OPC_Collider.h" + #include "OPC_VolumeCollider.h" + #include "OPC_TreeCollider.h" + #include "OPC_RayCollider.h" + #include "OPC_SphereCollider.h" + #include "OPC_OBBCollider.h" + #include "OPC_AABBCollider.h" + #include "OPC_LSSCollider.h" + #include "OPC_PlanesCollider.h" + // Usages + #include "OPC_Picking.h" + // Sweep-and-prune + #include "OPC_BoxPruning.h" + #include "OPC_SweepAndPrune.h" + + FUNCTION OPCODE_API bool InitOpcode(); + FUNCTION OPCODE_API bool CloseOpcode(); + } + +#endif // __OPCODE_H__ diff --git a/Opcode/StdAfx.cpp b/Opcode/StdAfx.cpp index ae10277..2350f92 100644 --- a/Opcode/StdAfx.cpp +++ b/Opcode/StdAfx.cpp @@ -1,10 +1,10 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-//#define ICE_MAIN
-#include "StdAfx.h"
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +//#define ICE_MAIN +#include "StdAfx.h" diff --git a/Opcode/StdAfx.h b/Opcode/StdAfx.h index 9988c25..0223a6c 100644 --- a/Opcode/StdAfx.h +++ b/Opcode/StdAfx.h @@ -1,24 +1,24 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-#if !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_)
-#define AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_
-
-#if _MSC_VER > 1000
-#pragma once
-#endif // _MSC_VER > 1000
-
-// Insert your headers here
-#define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers
-
-#include "Opcode.h"
-
-//{{AFX_INSERT_LOCATION}}
-// Microsoft Visual C++ will insert additional declarations immediately before the previous line.
-
-#endif // !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_)
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +#if !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_) +#define AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_ + +#if _MSC_VER > 1000 +#pragma once +#endif // _MSC_VER > 1000 + +// Insert your headers here +#define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers + +#include "Opcode.h" + +//{{AFX_INSERT_LOCATION}} +// Microsoft Visual C++ will insert additional declarations immediately before the previous line. + +#endif // !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_) |