// clip and generate contacts
static void _cldClipping(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2) {
// if we have edge/edge intersection
if ( iBestAxis > 4 ) {
dVector3 vub,vPb,vPa;
SET(vPa,vHullBoxPos);
// calculate point on box edge
for( int i=0; i<3; i++) {
dVector3 vRotCol;
GETCOL(mHullBoxRot,i,vRotCol);
dReal fSign = dDOT(vBestNormal,vRotCol) > 0 ? 1.0f : -1.0f;
vPa[0] += fSign * vBoxHalfSize[i] * vRotCol[0];
vPa[1] += fSign * vBoxHalfSize[i] * vRotCol[1];
vPa[2] += fSign * vBoxHalfSize[i] * vRotCol[2];
}
int iEdge = (iBestAxis-5)%3;
// decide which edge is on triangle
if ( iEdge == 0 ) {
SET(vPb,v0);
SET(vub,vE0);
} else if ( iEdge == 1) {
SET(vPb,v2);
SET(vub,vE1);
} else {
SET(vPb,v1);
SET(vub,vE2);
}
// setup direction parameter for face edge
dNormalize3(vub);
dReal fParam1, fParam2;
// setup direction parameter for box edge
dVector3 vua;
int col=(iBestAxis-5)/3;
GETCOL(mHullBoxRot,col,vua);
// find two closest points on both edges
_cldClosestPointOnTwoLines( vPa, vua, vPb, vub, fParam1, fParam2 );
vPa[0] += vua[0]*fParam1;
vPa[1] += vua[1]*fParam1;
vPa[2] += vua[2]*fParam1;
vPb[0] += vub[0]*fParam2;
vPb[1] += vub[1]*fParam2;
vPb[2] += vub[2]*fParam2;
// calculate collision point
dVector3 vPntTmp;
ADD(vPa,vPb,vPntTmp);
vPntTmp[0]*=0.5f;
vPntTmp[1]*=0.5f;
vPntTmp[2]*=0.5f;
// generate contact point between two closest points
#ifdef ORIG
if (ctContacts < (iFlags & 0x0ffff)) {
dContactGeom* Contact = SAFECONTACT(iFlags, ContactGeoms, ctContacts, iStride);
Contact->depth = fBestDepth;
SET(Contact->normal,vBestNormal);
SET(Contact->pos,vPntTmp);
Contact->g1 = Geom1;
Contact->g2 = Geom2;
ctContacts++;
}
#endif
GenerateContact(iFlags, ContactGeoms, iStride, Geom1, Geom2,
vPntTmp, vBestNormal, fBestDepth, ctContacts);
// if triangle is the referent face then clip box to triangle face
} else if ( iBestAxis == 1 ) {
dVector3 vNormal2;
vNormal2[0]=-vBestNormal[0];
vNormal2[1]=-vBestNormal[1];
vNormal2[2]=-vBestNormal[2];
// vNr is normal in box frame, pointing from triangle to box
dMatrix3 mTransposed;
mTransposed[0*4+0]=mHullBoxRot[0*4+0];
mTransposed[0*4+1]=mHullBoxRot[1*4+0];
mTransposed[0*4+2]=mHullBoxRot[2*4+0];
mTransposed[1*4+0]=mHullBoxRot[0*4+1];
mTransposed[1*4+1]=mHullBoxRot[1*4+1];
mTransposed[1*4+2]=mHullBoxRot[2*4+1];
mTransposed[2*4+0]=mHullBoxRot[0*4+2];
mTransposed[2*4+1]=mHullBoxRot[1*4+2];
mTransposed[2*4+2]=mHullBoxRot[2*4+2];
dVector3 vNr;
vNr[0]=mTransposed[0*4+0]*vNormal2[0]+ mTransposed[0*4+1]*vNormal2[1]+ mTransposed[0*4+2]*vNormal2[2];
vNr[1]=mTransposed[1*4+0]*vNormal2[0]+ mTransposed[1*4+1]*vNormal2[1]+ mTransposed[1*4+2]*vNormal2[2];
vNr[2]=mTransposed[2*4+0]*vNormal2[0]+ mTransposed[2*4+1]*vNormal2[1]+ mTransposed[2*4+2]*vNormal2[2];
dVector3 vAbsNormal;
vAbsNormal[0] = dFabs( vNr[0] );
vAbsNormal[1] = dFabs( vNr[1] );
vAbsNormal[2] = dFabs( vNr[2] );
// get closest face from box
int iB0, iB1, iB2;
if (vAbsNormal[1] > vAbsNormal[0]) {
if (vAbsNormal[1] > vAbsNormal[2]) {
iB1 = 0; iB0 = 1; iB2 = 2;
} else {
iB1 = 0; iB2 = 1; iB0 = 2;
}
} else {
if (vAbsNormal[0] > vAbsNormal[2]) {
iB0 = 0; iB1 = 1; iB2 = 2;
} else {
iB1 = 0; iB2 = 1; iB0 = 2;
}
}
// Here find center of box face we are going to project
dVector3 vCenter;
dVector3 vRotCol;
GETCOL(mHullBoxRot,iB0,vRotCol);
if (vNr[iB0] > 0) {
vCenter[0] = vHullBoxPos[0] - v0[0] - vBoxHalfSize[iB0] * vRotCol[0];
vCenter[1] = vHullBoxPos[1] - v0[1] - vBoxHalfSize[iB0] * vRotCol[1];
vCenter[2] = vHullBoxPos[2] - v0[2] - vBoxHalfSize[iB0] * vRotCol[2];
} else {
vCenter[0] = vHullBoxPos[0] - v0[0] + vBoxHalfSize[iB0] * vRotCol[0];
vCenter[1] = vHullBoxPos[1] - v0[1] + vBoxHalfSize[iB0] * vRotCol[1];
vCenter[2] = vHullBoxPos[2] - v0[2] + vBoxHalfSize[iB0] * vRotCol[2];
}
// Here find 4 corner points of box
dVector3 avPoints[4];
dVector3 vRotCol2;
GETCOL(mHullBoxRot,iB1,vRotCol);
GETCOL(mHullBoxRot,iB2,vRotCol2);
for(int x=0;x<3;x++) {
avPoints[0][x] = vCenter[x] + (vBoxHalfSize[iB1] * vRotCol[x]) - (vBoxHalfSize[iB2] * vRotCol2[x]);
avPoints[1][x] = vCenter[x] - (vBoxHalfSize[iB1] * vRotCol[x]) - (vBoxHalfSize[iB2] * vRotCol2[x]);
avPoints[2][x] = vCenter[x] - (vBoxHalfSize[iB1] * vRotCol[x]) + (vBoxHalfSize[iB2] * vRotCol2[x]);
avPoints[3][x] = vCenter[x] + (vBoxHalfSize[iB1] * vRotCol[x]) + (vBoxHalfSize[iB2] * vRotCol2[x]);
}
// clip Box face with 4 planes of triangle (1 face plane, 3 egde planes)
dVector3 avTempArray1[9];
dVector3 avTempArray2[9];
dVector4 plPlane;
int iTempCnt1=0;
int iTempCnt2=0;
// zeroify vectors - necessary?
for(int i=0; i<9; i++) {
avTempArray1[i][0]=0;
avTempArray1[i][1]=0;
avTempArray1[i][2]=0;
avTempArray2[i][0]=0;
avTempArray2[i][1]=0;
avTempArray2[i][2]=0;
}
// Normal plane
dVector3 vTemp;
vTemp[0]=-vN[0];
vTemp[1]=-vN[1];
vTemp[2]=-vN[2];
dNormalize3(vTemp);
CONSTRUCTPLANE(plPlane,vTemp,0);
_cldClipPolyToPlane( avPoints, 4, avTempArray1, iTempCnt1, plPlane );
// Plane p0
dVector3 vTemp2;
SUBTRACT(v1,v0,vTemp2);
dCROSS(vTemp,=,vN,vTemp2);
dNormalize3(vTemp);
CONSTRUCTPLANE(plPlane,vTemp,0);
_cldClipPolyToPlane( avTempArray1, iTempCnt1, avTempArray2, iTempCnt2, plPlane );
// Plane p1
SUBTRACT(v2,v1,vTemp2);
dCROSS(vTemp,=,vN,vTemp2);
dNormalize3(vTemp);
SUBTRACT(v0,v2,vTemp2);
CONSTRUCTPLANE(plPlane,vTemp,dDOT(vTemp2,vTemp));
_cldClipPolyToPlane( avTempArray2, iTempCnt2, avTempArray1, iTempCnt1, plPlane );
// Plane p2
SUBTRACT(v0,v2,vTemp2);
dCROSS(vTemp,=,vN,vTemp2);
dNormalize3(vTemp);
CONSTRUCTPLANE(plPlane,vTemp,0);
_cldClipPolyToPlane( avTempArray1, iTempCnt1, avTempArray2, iTempCnt2, plPlane );
// END of clipping polygons
// for each generated contact point
for ( int i=0; i<iTempCnt2; i++ ) {
// calculate depth
dReal fTempDepth = dDOT(vNormal2,avTempArray2[i]);
// clamp depth to zero
if (fTempDepth > 0) {
fTempDepth = 0;
}
dVector3 vPntTmp;
ADD(avTempArray2[i],v0,vPntTmp);
#ifdef ORIG
if (ctContacts < (iFlags & 0x0ffff)) {
dContactGeom* Contact = SAFECONTACT(iFlags, ContactGeoms, ctContacts, iStride);
Contact->depth = -fTempDepth;
SET(Contact->normal,vBestNormal);
SET(Contact->pos,vPntTmp);
Contact->g1 = Geom1;
Contact->g2 = Geom2;
ctContacts++;
}
#endif
GenerateContact(iFlags, ContactGeoms, iStride, Geom1, Geom2,
vPntTmp, vBestNormal, -fTempDepth, ctContacts);
}
//dAASSERT(ctContacts>0);
// if box face is the referent face, then clip triangle on box face
} else { // 2 <= if iBestAxis <= 4
// test one mesh triangle on intersection with capsule
void sTrimeshCapsuleColliderData::_cldTestOneTriangleVSCapsule(
const dVector3 &v0, const dVector3 &v1, const dVector3 &v2,
uint8 flags)
{
// calculate edges
SUBTRACT(v1,v0,m_vE0);
SUBTRACT(v2,v1,m_vE1);
SUBTRACT(v0,v2,m_vE2);
dVector3 _minus_vE0;
SUBTRACT(v0,v1,_minus_vE0);
// calculate poly normal
dCalcVectorCross3(m_vN,m_vE1,_minus_vE0);
// Even though all triangles might be initially valid,
// a triangle may degenerate into a segment after applying
// space transformation.
if (!dSafeNormalize3(m_vN))
{
return;
}
// create plane from triangle
dReal plDistance = -dCalcVectorDot3(v0,m_vN);
dVector4 plTrianglePlane;
CONSTRUCTPLANE(plTrianglePlane,m_vN,plDistance);
// calculate capsule distance to plane
dReal fDistanceCapsuleCenterToPlane = POINTDISTANCE(plTrianglePlane,m_vCapsulePosition);
// Capsule must be over positive side of triangle
if (fDistanceCapsuleCenterToPlane < 0 /* && !bDoubleSided*/)
{
// if not don't generate contacts
return;
}
dVector3 vPnt0;
SET (vPnt0,v0);
dVector3 vPnt1;
SET (vPnt1,v1);
dVector3 vPnt2;
SET (vPnt2,v2);
if (fDistanceCapsuleCenterToPlane < 0 )
{
SET (vPnt0,v0);
SET (vPnt1,v2);
SET (vPnt2,v1);
}
// do intersection test and find best separating axis
if (!_cldTestSeparatingAxesOfCapsule(vPnt0, vPnt1, vPnt2, flags))
{
// if not found do nothing
return;
}
// if best separation axis is not found
if (m_iBestAxis == 0 )
{
// this should not happen (we should already exit in that case)
dIASSERT(FALSE);
// do nothing
return;
}
// calculate caps centers in absolute space
dVector3 vCposTrans;
vCposTrans[0] = m_vCapsulePosition[0] + m_vNormal[0]*m_vCapsuleRadius;
vCposTrans[1] = m_vCapsulePosition[1] + m_vNormal[1]*m_vCapsuleRadius;
vCposTrans[2] = m_vCapsulePosition[2] + m_vNormal[2]*m_vCapsuleRadius;
dVector3 vCEdgePoint0;
vCEdgePoint0[0] = vCposTrans[0] + m_vCapsuleAxis[0]*(m_fCapsuleSize*REAL(0.5)-m_vCapsuleRadius);
vCEdgePoint0[1] = vCposTrans[1] + m_vCapsuleAxis[1]*(m_fCapsuleSize*REAL(0.5)-m_vCapsuleRadius);
vCEdgePoint0[2] = vCposTrans[2] + m_vCapsuleAxis[2]*(m_fCapsuleSize*REAL(0.5)-m_vCapsuleRadius);
dVector3 vCEdgePoint1;
vCEdgePoint1[0] = vCposTrans[0] - m_vCapsuleAxis[0]*(m_fCapsuleSize*REAL(0.5)-m_vCapsuleRadius);
vCEdgePoint1[1] = vCposTrans[1] - m_vCapsuleAxis[1]*(m_fCapsuleSize*REAL(0.5)-m_vCapsuleRadius);
vCEdgePoint1[2] = vCposTrans[2] - m_vCapsuleAxis[2]*(m_fCapsuleSize*REAL(0.5)-m_vCapsuleRadius);
// transform capsule edge points into triangle space
vCEdgePoint0[0] -= vPnt0[0];
vCEdgePoint0[1] -= vPnt0[1];
vCEdgePoint0[2] -= vPnt0[2];
vCEdgePoint1[0] -= vPnt0[0];
vCEdgePoint1[1] -= vPnt0[1];
vCEdgePoint1[2] -= vPnt0[2];
dVector4 plPlane;
dVector3 _minus_vN;
_minus_vN[0] = -m_vN[0];
_minus_vN[1] = -m_vN[1];
_minus_vN[2] = -m_vN[2];
// triangle plane
CONSTRUCTPLANE(plPlane,_minus_vN,0);
//plPlane = Plane4f( -m_vN, 0);
if (!_cldClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane ))
{
return;
}
// plane with edge 0
dVector3 vTemp;
dCalcVectorCross3(vTemp,m_vN,m_vE0);
CONSTRUCTPLANE(plPlane, vTemp, REAL(1e-5));
if (!_cldClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane ))
{
return;
}
dCalcVectorCross3(vTemp,m_vN,m_vE1);
CONSTRUCTPLANE(plPlane, vTemp, -(dCalcVectorDot3(m_vE0,vTemp)-REAL(1e-5)));
if (!_cldClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane ))
{
return;
}
dCalcVectorCross3(vTemp,m_vN,m_vE2);
CONSTRUCTPLANE(plPlane, vTemp, REAL(1e-5));
if (!_cldClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane )) {
return;
}
// return capsule edge points into absolute space
vCEdgePoint0[0] += vPnt0[0];
vCEdgePoint0[1] += vPnt0[1];
vCEdgePoint0[2] += vPnt0[2];
vCEdgePoint1[0] += vPnt0[0];
vCEdgePoint1[1] += vPnt0[1];
vCEdgePoint1[2] += vPnt0[2];
// calculate depths for both contact points
SUBTRACT(vCEdgePoint0,m_vCapsulePosition,vTemp);
dReal fDepth0 = dCalcVectorDot3(vTemp,m_vNormal) - (m_fBestCenter-m_fBestrt);
SUBTRACT(vCEdgePoint1,m_vCapsulePosition,vTemp);
dReal fDepth1 = dCalcVectorDot3(vTemp,m_vNormal) - (m_fBestCenter-m_fBestrt);
// clamp depths to zero
if (fDepth0 < 0)
{
fDepth0 = 0.0f;
}
if (fDepth1 < 0 )
{
fDepth1 = 0.0f;
}
// Cached contacts's data
// contact 0
dIASSERT(m_ctContacts < (m_iFlags & NUMC_MASK)); // Do not call function if there is no room to store result
m_gLocalContacts[m_ctContacts].fDepth = fDepth0;
SET(m_gLocalContacts[m_ctContacts].vNormal,m_vNormal);
SET(m_gLocalContacts[m_ctContacts].vPos,vCEdgePoint0);
m_gLocalContacts[m_ctContacts].nFlags = 1;
m_ctContacts++;
if (m_ctContacts < (m_iFlags & NUMC_MASK)) {
// contact 1
m_gLocalContacts[m_ctContacts].fDepth = fDepth1;
SET(m_gLocalContacts[m_ctContacts].vNormal,m_vNormal);
SET(m_gLocalContacts[m_ctContacts].vPos,vCEdgePoint1);
m_gLocalContacts[m_ctContacts].nFlags = 1;
m_ctContacts++;
}
}
