diff options
Diffstat (limited to 'Opcode/OpcodeLib/OPC_OBBCollider.cpp')
| -rw-r--r-- | Opcode/OpcodeLib/OPC_OBBCollider.cpp | 767 |
1 files changed, 0 insertions, 767 deletions
diff --git a/Opcode/OpcodeLib/OPC_OBBCollider.cpp b/Opcode/OpcodeLib/OPC_OBBCollider.cpp deleted file mode 100644 index 1dc343d..0000000 --- a/Opcode/OpcodeLib/OPC_OBBCollider.cpp +++ /dev/null @@ -1,767 +0,0 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * 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-point 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;
-}
|