void CRigidBody::HandlePushCollision(CCollisionMessage* ColMsg)
{
CVehicle* Car = (CVehicle*)ColMsg->GetEntity();
CLog::GetLog().Write(LOG_MISC, "In HandlePushCollision()");
/***************** First, findout how hard Car was hit **************/
float force = ColMsg->GetPushForce()->Length();
//CLog::GetLog().Write(LOG_MISC, "force = %f", force);
Vector3f Direction = (*ColMsg->GetNormal())*force;
CLog::GetLog().Write(LOG_MISC, "\n\n\nforce = %f", force);
CLog::GetLog().Write(LOG_MISC, "Direction = (%f, %f, %f)",
Direction.X(), Direction.Y(), Direction.Z());
/***************** Next, findout where along body Car was hit *********/
float where;
Rectangle3f Rect = *ColMsg->GetPlane();
Vector3f ColPoint = *ColMsg->GetColPoint();
Plane3f P1 = Plane3f(Rect.Edge0(), Rect.Origin());
where = P1.DistanceTo(ColPoint)/Rect.Edge0().Length();
// So where = [1,0]. 0 - at origin, 1 - opposite origin
}
int FrustumContainsSphere( CD3DCamera * pCamera, Sphere3f pSphere)
{
// various distances
float fDistance;
//$$$TEMP get the frustum planes from the camera's CULLINFO
Plane3f plane[6];
CULLINFO *cInfo = pCamera->GetCullInfo();
for (int j=0; j<6; j++) {
plane[j] = Plane3f( Vector3f(cInfo->planeFrustum[j].a, cInfo->planeFrustum[j].b, cInfo->planeFrustum[j].c), cInfo->planeFrustum[j].d);
}
// calculate our distances to each of the planes
for(int i = 0; i < 6; ++i) {
// find the distance to this plane
//fDistance = plane[i].GetNormal().Dot(pSphere.Center()) + plane[i].GetNormal().Length();
//fDistance = plane[i].GetNormal().Dot(pSphere.Center()) + plane[i].DistanceTo(pSphere.Center());
fDistance = plane[i].GetNormal().Dot(pSphere.Center()) + plane[i][3];
// if this distance is < -sphere.radius, we are outside
if(fDistance < -pSphere.Radius())
return(OUTSIDE);
// else if the distance is between +- radius, then we intersect
if((float)fabs(fDistance) < pSphere.Radius())
return(INTERSECT);
}
// otherwise we are fully in view
return (INSIDE);
}
//----------------------------------------------------------------------------
void BouncingTetrahedra::CalculateNormal (const Vector3f* vertices,
const Vector3f& closest, Contact& contact)
{
float diff = Mathf::MAX_REAL;
for (int i = 0; i < 4; ++i)
{
Plane3f plane = Plane3f(vertices[mFaces[i][0]],
vertices[mFaces[i][1]], vertices[mFaces[i][2]]);
float temp = Mathf::FAbs(plane.DistanceTo(closest));
if (temp < diff)
{
contact.N = plane.Normal;
diff = temp;
}
}
}
//----------------------------------------------------------------------------
void PointInPolyhedron::CreateQuery (TriMesh* mesh)
{
const VertexBuffer* vbuffer = mesh->GetVertexBuffer();
const int numVertices = vbuffer->GetNumElements();
const Vector3f* vertices = (Vector3f*)vbuffer->GetData();
const IndexBuffer* ibuffer = mesh->GetIndexBuffer();
const int numIndices = ibuffer->GetNumElements();
const int numFaces = numIndices/3;
const int* indices = (int*)ibuffer->GetData();
const int* currentIndex = indices;
int i;
#ifdef TRIFACES
mTFaces = new1<PointInPolyhedron3f::TriangleFace>(numFaces);
for (i = 0; i < numFaces; ++i)
{
int v0 = *currentIndex++;
int v1 = *currentIndex++;
int v2 = *currentIndex++;
mTFaces[i].Indices[0] = v0;
mTFaces[i].Indices[1] = v1;
mTFaces[i].Indices[2] = v2;
mTFaces[i].Plane = Plane3f(vertices[v0], vertices[v1], vertices[v2]);
}
mQuery = new0 PointInPolyhedron3f(numVertices, vertices, numFaces,
mTFaces, mNumRays, mRayDirections);
#endif
#if defined(CVXFACES0) || defined(CVXFACES1) || defined(CVXFACES2)
mCFaces = new1<PointInPolyhedron3f::ConvexFace>(numFaces);
for (i = 0; i < numFaces; ++i)
{
int v0 = *currentIndex++;
int v1 = *currentIndex++;
int v2 = *currentIndex++;
mCFaces[i].Indices.resize(3);
mCFaces[i].Indices[0] = v0;
mCFaces[i].Indices[1] = v1;
mCFaces[i].Indices[2] = v2;
mCFaces[i].Plane = Plane3f(vertices[v0], vertices[v1], vertices[v2]);
}
#ifdef CVXFACES0
mQuery = new0 PointInPolyhedron3f(numVertices, vertices, numFaces,
mCFaces, mNumRays, mRayDirections, 0);
#else
#ifdef CVXFACES1
mQuery = new0 PointInPolyhedron3f(numVertices, vertices, numFaces,
mCFaces, mNumRays, mRayDirections, 1);
#else
mQuery = new0 PointInPolyhedron3f(numVertices, vertices, numFaces,
mCFaces, mNumRays, mRayDirections, 2);
#endif
#endif
#endif
#if defined (SIMFACES0) || defined (SIMFACES1)
mSFaces = new1<PointInPolyhedron3f::SimpleFace>(numFaces);
for (i = 0; i < numFaces; ++i)
{
int v0 = *currentIndex++;
int v1 = *currentIndex++;
int v2 = *currentIndex++;
mSFaces[i].Indices.resize(3);
mSFaces[i].Indices[0] = v0;
mSFaces[i].Indices[1] = v1;
mSFaces[i].Indices[2] = v2;
mSFaces[i].Plane = Plane3f(vertices[v0], vertices[v1], vertices[v2]);
mSFaces[i].Triangles.resize(3);
mSFaces[i].Triangles[0] = v0;
mSFaces[i].Triangles[1] = v1;
mSFaces[i].Triangles[2] = v2;
}
#ifdef SIMFACES0
mQuery = new0 PointInPolyhedron3f(numVertices, vertices, numFaces,
mSFaces, mNumRays, mRayDirections, 0);
#else
mQuery = new0 PointInPolyhedron3f(numVertices, vertices, numFaces,
mSFaces, mNumRays, mRayDirections, 1);
#endif
#endif
}
// static
Plane3f Plane3f::XY()
{
return Plane3f( 0, 0, 1, 0 );
}
// static
Plane3f Plane3f::ZX()
{
return Plane3f( 0, 1, 0, 0 );
}
Plane3f Plane3f::offset( float z ) const
{
return Plane3f( a, b, c, d - z * ( a + b + c ) );
}
Plane3f Plane3f::flipped() const
{
return Plane3f( -a, -b, -c, -d );
}
// static
Plane3f Plane3f::YZ()
{
return Plane3f( 1, 0, 0, 0 );
}