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Diffstat (limited to 'Opcode/OPC_SphereCollider.cpp')
| -rw-r--r-- | Opcode/OPC_SphereCollider.cpp | 726 |
1 files changed, 726 insertions, 0 deletions
diff --git a/Opcode/OPC_SphereCollider.cpp b/Opcode/OPC_SphereCollider.cpp new file mode 100644 index 0000000..c584c97 --- /dev/null +++ b/Opcode/OPC_SphereCollider.cpp @@ -0,0 +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;
+}
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