/*!
In each contact
<ul>
<li> m_handle1 points to trimesh.
<li> m_handle2 points to NULL.
<li> m_feature1 Is a triangle index of trimesh.
</ul>
\param trimesh
\param center
\param radius
\param contacts A GIM_CONTACT array. Must be initialized
*/
void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts)
{
contacts->m_size = 0;
aabb3f test_aabb;
test_aabb.minX = center[0]-radius;
test_aabb.maxX = center[0]+radius;
test_aabb.minY = center[1]-radius;
test_aabb.maxY = center[1]+radius;
test_aabb.minZ = center[2]-radius;
test_aabb.maxZ = center[2]+radius;
GDYNAMIC_ARRAY collision_result;
GIM_CREATE_BOXQUERY_LIST(collision_result);
gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);
if(collision_result.m_size==0)
{
GIM_DYNARRAY_DESTROY(collision_result);
}
//collide triangles
//Locks trimesh
gim_trimesh_locks_work_data(trimesh);
//dummy contacts
GDYNAMIC_ARRAY dummycontacts;
GIM_CREATE_CONTACT_LIST(dummycontacts);
int cresult;
unsigned int i;
GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
GIM_TRIANGLE_CONTACT_DATA tri_contact_data;
GIM_TRIANGLE_DATA tri_data;
for(i=0;i<collision_result.m_size;i++)
{
gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);
cresult = gim_triangle_sphere_collision(&tri_data,center,radius,&tri_contact_data);
if(cresult!=0)
{
GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[0],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh, 0, boxesresult[i],0);
}
}
///unlocks
gim_trimesh_unlocks_work_data(trimesh);
///Destroy box result
GIM_DYNARRAY_DESTROY(collision_result);
//merge contacts
gim_merge_contacts(&dummycontacts,contacts);
//Destroy dummy
GIM_DYNARRAY_DESTROY(dummycontacts);
}
int dCollideCylinderTrimesh(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
{
dIASSERT( skip >= (int)sizeof( dContactGeom ) );
dIASSERT( o1->type == dCylinderClass );
dIASSERT( o2->type == dTriMeshClass );
dIASSERT ((flags & NUMC_MASK) >= 1);
// Main data holder
sData cData;
// Assign ODE stuff
cData.gCylinder = o1;
cData.gTrimesh = (dxTriMesh*)o2;
cData.iFlags = flags;
cData.iSkip = skip;
cData.gContact = contact;
cData.nContacts = 0;
_InitCylinderTrimeshData(cData);
//*****at first , collide box aabb******//
aabb3f test_aabb;
test_aabb.minX = o1->aabb[0];
test_aabb.maxX = o1->aabb[1];
test_aabb.minY = o1->aabb[2];
test_aabb.maxY = o1->aabb[3];
test_aabb.minZ = o1->aabb[4];
test_aabb.maxZ = o1->aabb[5];
GDYNAMIC_ARRAY collision_result;
GIM_CREATE_BOXQUERY_LIST(collision_result);
gim_aabbset_box_collision(&test_aabb, &cData.gTrimesh->m_collision_trimesh.m_aabbset , &collision_result);
if(collision_result.m_size==0)
{
GIM_DYNARRAY_DESTROY(collision_result);
return 0;
}
//*****Set globals for box collision******//
int ctContacts0 = 0;
cData.gLocalContacts = (sLocalContactData*)dALLOCA16(sizeof(sLocalContactData)*(cData.iFlags & NUMC_MASK));
GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);
GIM_TRIMESH * ptrimesh = &cData.gTrimesh->m_collision_trimesh;
gim_trimesh_locks_work_data(ptrimesh);
for(unsigned int i=0; i<collision_result.m_size; i++)
{
const int Triint = boxesresult[i];
dVector3 dv[3];
gim_trimesh_get_triangle_vertices(ptrimesh, Triint,dv[0],dv[1],dv[2]);
// test this triangle
TestOneTriangleVsCylinder(cData , dv[0],dv[1],dv[2], false);
// fill-in triangle index for generated contacts
for (; ctContacts0<cData.nContacts; ctContacts0++)
cData.gLocalContacts[ctContacts0].triIndex = Triint;
// Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
if(cData.nContacts >= (cData.iFlags & NUMC_MASK))
{
break;
}
}
gim_trimesh_unlocks_work_data(ptrimesh);
GIM_DYNARRAY_DESTROY(collision_result);
return _ProcessLocalContacts(cData);
}
/*!
Find the closest primitive collided by the ray
\param trimesh
\param capsule
\param contact
\param contacts A GIM_CONTACT array. Must be initialized
*/
void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts)
{
contacts->m_size = 0;
aabb3f test_aabb;
CALC_CAPSULE_AABB((*capsule),test_aabb);
GDYNAMIC_ARRAY collision_result;
GIM_CREATE_BOXQUERY_LIST(collision_result);
gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);
if(collision_result.m_size==0)
{
GIM_DYNARRAY_DESTROY(collision_result);
}
//collide triangles
//Locks trimesh
gim_trimesh_locks_work_data(trimesh);
//dummy contacts
GDYNAMIC_ARRAY dummycontacts;
GIM_CREATE_CONTACT_LIST(dummycontacts);
int cresult;
unsigned int i;
GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);
GIM_TRIANGLE_DATA tri_data;
GUINT old_contact_size;
GIM_CONTACT * pcontact;
for(i=0;i<collision_result.m_size;i++)
{
old_contact_size = dummycontacts.m_size;
gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);
cresult = gim_triangle_capsule_collision(&tri_data, capsule, &dummycontacts);
if(cresult!=0)
{
pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,dummycontacts);
pcontact+= old_contact_size;
while(old_contact_size<dummycontacts.m_size)
{
pcontact->m_handle1 = trimesh;
pcontact->m_handle2 = capsule;
pcontact->m_feature1 = boxesresult[i];
pcontact->m_feature2 = 0;
pcontact++;
old_contact_size++;
}
}
}
///unlocks
gim_trimesh_unlocks_work_data(trimesh);
///Destroy box result
GIM_DYNARRAY_DESTROY(collision_result);
//merge contacts
gim_merge_contacts(&dummycontacts,contacts);
//Destroy dummy
GIM_DYNARRAY_DESTROY(dummycontacts);
}
