void GetTriangleOverlap(neCollisionResult & result, s32 i, TConvex & convexA, TConvex & convexB)
{
const Pair * pair = &tc.GetPairs()[i];
IceMaths::Point * vertsA = convexA.as.opcodeMesh.vertices;
IndexedTriangle * trisA = convexA.as.opcodeMesh.triIndices;
IceMaths::Point * vertsB = convexB.as.opcodeMesh.vertices;
IndexedTriangle * trisB = convexB.as.opcodeMesh.triIndices;
IceMaths::Point V0 = worldA * vertsA[trisA[pair->id0].mVRef[0]];
IceMaths::Point V1 = worldA * vertsA[trisA[pair->id0].mVRef[1]];
IceMaths::Point V2 = worldA * vertsA[trisA[pair->id0].mVRef[2]];
IceMaths::Point U0 = worldB * vertsB[trisB[pair->id1].mVRef[0]];
IceMaths::Point U1 = worldB * vertsB[trisB[pair->id1].mVRef[1]];
IceMaths::Point U2 = worldB * vertsB[trisB[pair->id1].mVRef[2]];
if (tc.TriTriOverlap(V0, V1, V2, U0, U1, U2))
{
}
}
bool DTIFilterROI::matches(DTIPathway *pathway)
{
#ifdef USE_RAPID
CollModel *pathwayModel = pathway->getCollisionModel();
RAPID_Collide (_rotation_matrix, _position, _model.get(),
ZERO_ROTATION, ZERO_TRANSLATION, pathwayModel, RAPID_FIRST_CONTACT);
return RAPID_num_contacts > 0 ? true:false;
#else
Opcode::Model *pathwayModel = pathway->getCollisionModel();
Opcode::AABBTreeCollider TC;
TC.SetFirstContact(true);
Opcode::BVTCache cache;
cache.Model0 = pathway->getCollisionModel();
cache.Model1 = this->_model.get();
TC.Collide(cache);
return TC.GetContactStatus();
#endif
}
void Opcode2OpcodeTest(neCollisionResult & result, TConvex & convexA, neT3 & transA, TConvex & convexB, neT3 & transB)
{
tc.SetFirstContact(false);
tc.SetFullBoxBoxTest(true);
tc.SetFullPrimBoxTest(true);
tc.SetTemporalCoherence(false);
tc.SetPointers0(convexA.as.opcodeMesh.triIndices, convexA.as.opcodeMesh.vertices);
tc.SetPointers1(convexB.as.opcodeMesh.triIndices, convexB.as.opcodeMesh.vertices);
// Setup cache
ColCache.Model0 = convexA.as.opcodeMesh.opmodel;
ColCache.Model1 = convexB.as.opcodeMesh.opmodel;
transA.AssignIceMatrix(worldA);
transB.AssignIceMatrix(worldB);
// Collision query
bool IsOk = tc.Collide(ColCache, &worldA, &worldB);
if (tc.GetContactStatus() == false)
{
result.penetrate = false;
return;
}
u32 npairs = tc.GetNbPairs();
result.penetrate = true;
result.depth = 0.0f;
for (u32 i = 0; i < npairs; i++)
{
GetTriangleOverlap(result, i, convexA, convexB);
}
}
