void startTest() { TCHAR logFileName[1024]; getLogFilename(logFileName); testLogFile = _tfopen(logFileName, _T("w")); if (!testLogFile) return; int pointTestErr = testPoint(); logHLine(); int vectorTestErr = testVector(); logHLine(); int lineTestErr = testLine(); logHLine(); int planeTestErr = testPlane(); logHLine(); int triangleTestErr = testTriangle(); logHLine(); int basisTestErr = testBasis(); logHLine(); int matrixTestErr = testMatrix(); fclose(testLogFile); testLogFile = NULL; }
//Returns a vector of GameObjects which need to be drawn std::vector<GameObject*> World::cull(int mountainSide) { vector<GameObject*> objects; //Get mvp matrix glm::mat4 model, view, projection, mvp; float radius; glm::vec4 point; glm::vec4 platformCenter = glm::vec4(0, 0, 0, 1); //View and projection matrices are shared by all objects glGetUniformfv(handles->ShadeProg, handles->uViewMatrix, glm::value_ptr(view)); glGetUniformfv(handles->ShadeProg, handles->uProjMatrix, glm::value_ptr(projection)); for (int i = 0; i < platforms.size(); i++) { //This will cull any platforms on the opposite side of the mountain if (((mountainSide + platforms.at(i).mountainSide) % 4 != 0) || (mountainSide == platforms.at(i).mountainSide)) { //Not on the back side, check against each plane of view frustum //Get the model transform for this Object model = platforms.at(i).model.state.transform; radius = max(platforms.at(i).getScale().x, platforms.at(i).getScale().z); mvp = projection * view * model; //Negative Z if(testPlane(glm::row(mvp, 2), glm::row(mvp, 3), platformCenter, radius) > 0) { //Positive Z if(testPlane(-glm::row(mvp, 2), glm::row(mvp, 3), platformCenter, radius) > 0) { //Negative Y if(testPlane(glm::row(mvp, 1), glm::row(mvp, 3), platformCenter, radius) > 0) { //Positive Y if(testPlane(-glm::row(mvp, 1), glm::row(mvp, 3), platformCenter, radius) > 0) { //Negative X if(testPlane(glm::row(mvp, 0), glm::row(mvp, 3), platformCenter, radius) > 0) { //Positive X if(testPlane(-glm::row(mvp, 0), glm::row(mvp, 3), platformCenter, radius) > 0) { objects.push_back(&platforms.at(i)); } } } } } } } } return objects; }
dgInt32 dgCollisionBox::CalculatePlaneIntersection (const dgVector& normal, const dgVector& point, dgVector* const contactsOut) const { dgVector support[4]; dgInt32 featureCount = 3; const dgConvexSimplexEdge** const vertToEdgeMapping = GetVertexToEdgeMapping(); if (vertToEdgeMapping) { dgInt32 edgeIndex; //support[0] = SupportVertex (normal.Scale4(normalSign), &edgeIndex); support[0] = SupportVertex (normal, &edgeIndex); dgFloat32 dist = normal.DotProduct4(support[0] - point).GetScalar(); if (dist <= DG_IMPULSIVE_CONTACT_PENETRATION) { dgVector normalAlgin (normal.Abs()); if (!((normalAlgin.m_x > dgFloat32 (0.9999f)) || (normalAlgin.m_y > dgFloat32 (0.9999f)) || (normalAlgin.m_z > dgFloat32 (0.9999f)))) { // 0.25 degrees const dgFloat32 tiltAngle = dgFloat32 (0.005f); const dgFloat32 tiltAngle2 = tiltAngle * tiltAngle ; dgPlane testPlane (normal, - (normal.DotProduct4(support[0]).GetScalar())); featureCount = 1; const dgConvexSimplexEdge* const edge = vertToEdgeMapping[edgeIndex]; const dgConvexSimplexEdge* ptr = edge; do { const dgVector& p = m_vertex[ptr->m_twin->m_vertex]; dgFloat32 test1 = testPlane.Evalue(p); dgVector dist (p - support[0]); dgFloat32 angle2 = test1 * test1 / (dist.DotProduct4(dist).GetScalar()); if (angle2 < tiltAngle2) { support[featureCount] = p; featureCount ++; } ptr = ptr->m_twin->m_next; } while ((ptr != edge) && (featureCount < 3)); } } } dgInt32 count = 0; switch (featureCount) { case 1: { contactsOut[0] = support[0] - normal.CompProduct4(normal.DotProduct4(support[0] - point)); count = 1; break; } case 2: { contactsOut[0] = support[0] - normal.CompProduct4(normal.DotProduct4(support[0] - point)); contactsOut[1] = support[1] - normal.CompProduct4(normal.DotProduct4(support[1] - point)); count = 2; break; } default: { dgFloat32 test[8]; dgAssert(normal.m_w == dgFloat32(0.0f)); dgPlane plane(normal, -(normal.DotProduct4(point).GetScalar())); for (dgInt32 i = 0; i < 8; i++) { dgAssert(m_vertex[i].m_w == dgFloat32(0.0f)); test[i] = plane.DotProduct4(m_vertex[i] | dgVector::m_wOne).m_x; } dgConvexSimplexEdge* edge = NULL; for (dgInt32 i = 0; i < dgInt32 (sizeof (m_edgeEdgeMap) / sizeof (m_edgeEdgeMap[0])); i ++) { dgConvexSimplexEdge* const ptr = m_edgeEdgeMap[i]; dgFloat32 side0 = test[ptr->m_vertex]; dgFloat32 side1 = test[ptr->m_twin->m_vertex]; if ((side0 * side1) < dgFloat32 (0.0f)) { edge = ptr; break; } } if (edge) { if (test[edge->m_vertex] < dgFloat32 (0.0f)) { edge = edge->m_twin; } dgAssert (test[edge->m_vertex] > dgFloat32 (0.0f)); dgConvexSimplexEdge* ptr = edge; dgConvexSimplexEdge* firstEdge = NULL; dgFloat32 side0 = test[edge->m_vertex]; do { dgAssert (m_vertex[ptr->m_twin->m_vertex].m_w == dgFloat32 (0.0f)); dgFloat32 side1 = test[ptr->m_twin->m_vertex]; if (side1 < side0) { if (side1 < dgFloat32 (0.0f)) { firstEdge = ptr; break; } side0 = side1; edge = ptr->m_twin; ptr = edge; } ptr = ptr->m_twin->m_next; } while (ptr != edge); if (firstEdge) { edge = firstEdge; ptr = edge; do { dgVector dp (m_vertex[ptr->m_twin->m_vertex] - m_vertex[ptr->m_vertex]); dgFloat32 t = plane.DotProduct4(dp).m_x; if (t >= dgFloat32 (-1.e-24f)) { t = dgFloat32 (0.0f); } else { t = test[ptr->m_vertex] / t; if (t > dgFloat32 (0.0f)) { t = dgFloat32 (0.0f); } if (t < dgFloat32 (-1.0f)) { t = dgFloat32 (-1.0f); } } dgAssert (t <= dgFloat32 (0.01f)); dgAssert (t >= dgFloat32 (-1.05f)); contactsOut[count] = m_vertex[ptr->m_vertex] - dp.Scale4 (t); count ++; dgConvexSimplexEdge* ptr1 = ptr->m_next; for (; ptr1 != ptr; ptr1 = ptr1->m_next) { dgInt32 index0 = ptr1->m_twin->m_vertex; if (test[index0] >= dgFloat32 (0.0f)) { dgAssert (test[ptr1->m_vertex] <= dgFloat32 (0.0f)); break; } } dgAssert (ptr != ptr1); ptr = ptr1->m_twin; } while ((ptr != edge) && (count < 8)); } } } } if (count > 2) { count = RectifyConvexSlice (count, normal, contactsOut); } return count; }