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;
}
