int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dCapsuleClass);
dIASSERT (o2->type == dSphereClass);
dIASSERT ((flags & NUMC_MASK) >= 1);
dxCapsule *ccyl = (dxCapsule*) o1;
dxSphere *sphere = (dxSphere*) o2;
contact->g1 = o1;
contact->g2 = o2;
contact->side1 = -1;
contact->side2 = -1;
// find the point on the cylinder axis that is closest to the sphere
dReal alpha =
o1->final_posr->R[2] * (o2->final_posr->pos[0] - o1->final_posr->pos[0]) +
o1->final_posr->R[6] * (o2->final_posr->pos[1] - o1->final_posr->pos[1]) +
o1->final_posr->R[10] * (o2->final_posr->pos[2] - o1->final_posr->pos[2]);
dReal lz2 = ccyl->lz * REAL(0.5);
if (alpha > lz2) alpha = lz2;
if (alpha < -lz2) alpha = -lz2;
// collide the spheres
dVector3 p;
p[0] = o1->final_posr->pos[0] + alpha * o1->final_posr->R[2];
p[1] = o1->final_posr->pos[1] + alpha * o1->final_posr->R[6];
p[2] = o1->final_posr->pos[2] + alpha * o1->final_posr->R[10];
return dCollideSpheres (p,ccyl->radius,o2->final_posr->pos,sphere->radius,contact);
}
int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dSphereClass);
dIASSERT (o2->type == dSphereClass);
dIASSERT ((flags & NUMC_MASK) >= 1);
dxSphere *sphere1 = (dxSphere*) o1;
dxSphere *sphere2 = (dxSphere*) o2;
contact->g1 = o1;
contact->g2 = o2;
return dCollideSpheres (o1->final_posr->pos,sphere1->radius,
o2->final_posr->pos,sphere2->radius,contact);
}
int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int /*flags*/,
dContactGeom *contact, int /*skip*/)
{
//dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dCapsuleClass);
dIASSERT (o2->type == dBoxClass);
//dIASSERT ((flags & NUMC_MASK) >= 1);
dxCapsule *cyl = (dxCapsule*) o1;
dxBox *box = (dxBox*) o2;
contact->g1 = o1;
contact->g2 = o2;
contact->side1 = -1;
contact->side2 = -1;
// get p1,p2 = cylinder axis endpoints, get radius
dVector3 p1,p2;
dReal clen = cyl->lz * REAL(0.5);
p1[0] = o1->final_posr->pos[0] + clen * o1->final_posr->R[2];
p1[1] = o1->final_posr->pos[1] + clen * o1->final_posr->R[6];
p1[2] = o1->final_posr->pos[2] + clen * o1->final_posr->R[10];
p2[0] = o1->final_posr->pos[0] - clen * o1->final_posr->R[2];
p2[1] = o1->final_posr->pos[1] - clen * o1->final_posr->R[6];
p2[2] = o1->final_posr->pos[2] - clen * o1->final_posr->R[10];
dReal radius = cyl->radius;
// copy out box center, rotation matrix, and side array
dReal *c = o2->final_posr->pos;
dReal *R = o2->final_posr->R;
const dReal *side = box->side;
// get the closest point between the cylinder axis and the box
dVector3 pl,pb;
dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb);
// generate contact point
return dCollideSpheres (pl,radius,pb,0,contact);
}
int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2,
int flags, dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dCapsuleClass);
dIASSERT (o2->type == dCapsuleClass);
dIASSERT ((flags & NUMC_MASK) >= 1);
int i;
const dReal tolerance = REAL(1e-5);
dxCapsule *cyl1 = (dxCapsule*) o1;
dxCapsule *cyl2 = (dxCapsule*) o2;
contact->g1 = o1;
contact->g2 = o2;
// copy out some variables, for convenience
dReal lz1 = cyl1->lz * REAL(0.5);
dReal lz2 = cyl2->lz * REAL(0.5);
dReal *pos1 = o1->final_posr->pos;
dReal *pos2 = o2->final_posr->pos;
dReal axis1[3],axis2[3];
axis1[0] = o1->final_posr->R[2];
axis1[1] = o1->final_posr->R[6];
axis1[2] = o1->final_posr->R[10];
axis2[0] = o2->final_posr->R[2];
axis2[1] = o2->final_posr->R[6];
axis2[2] = o2->final_posr->R[10];
// if the cylinder axes are close to parallel, we'll try to detect up to
// two contact points along the body of the cylinder. if we can't find any
// points then we'll fall back to the closest-points algorithm. note that
// we are not treating this special case for reasons of degeneracy, but
// because we want two contact points in some situations. the closet-points
// algorithm is robust in all casts, but it can return only one contact.
dVector3 sphere1,sphere2;
dReal a1a2 = dDOT (axis1,axis2);
dReal det = REAL(1.0)-a1a2*a1a2;
if (det < tolerance) {
// the cylinder axes (almost) parallel, so we will generate up to two
// contacts. alpha1 and alpha2 (line position parameters) are related by:
// alpha2 = alpha1 + (pos1-pos2)'*axis1 (if axis1==axis2)
// or alpha2 = -(alpha1 + (pos1-pos2)'*axis1) (if axis1==-axis2)
// first compute where the two cylinders overlap in alpha1 space:
if (a1a2 < 0) {
axis2[0] = -axis2[0];
axis2[1] = -axis2[1];
axis2[2] = -axis2[2];
}
dReal q[3];
for (i=0; i<3; i++) q[i] = pos1[i]-pos2[i];
dReal k = dDOT (axis1,q);
dReal a1lo = -lz1;
dReal a1hi = lz1;
dReal a2lo = -lz2 - k;
dReal a2hi = lz2 - k;
dReal lo = (a1lo > a2lo) ? a1lo : a2lo;
dReal hi = (a1hi < a2hi) ? a1hi : a2hi;
if (lo <= hi) {
int num_contacts = flags & NUMC_MASK;
if (num_contacts >= 2 && lo < hi) {
// generate up to two contacts. if one of those contacts is
// not made, fall back on the one-contact strategy.
for (i=0; i<3; i++) sphere1[i] = pos1[i] + lo*axis1[i];
for (i=0; i<3; i++) sphere2[i] = pos2[i] + (lo+k)*axis2[i];
int n1 = dCollideSpheres (sphere1,cyl1->radius,
sphere2,cyl2->radius,contact);
if (n1) {
for (i=0; i<3; i++) sphere1[i] = pos1[i] + hi*axis1[i];
for (i=0; i<3; i++) sphere2[i] = pos2[i] + (hi+k)*axis2[i];
dContactGeom *c2 = CONTACT(contact,skip);
int n2 = dCollideSpheres (sphere1,cyl1->radius,
sphere2,cyl2->radius, c2);
if (n2) {
c2->g1 = o1;
c2->g2 = o2;
return 2;
}
}
}
// just one contact to generate, so put it in the middle of
// the range
dReal alpha1 = (lo + hi) * REAL(0.5);
dReal alpha2 = alpha1 + k;
for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
return dCollideSpheres (sphere1,cyl1->radius,
sphere2,cyl2->radius,contact);
}
}
// use the closest point algorithm
dVector3 a1,a2,b1,b2;
a1[0] = o1->final_posr->pos[0] + axis1[0]*lz1;
a1[1] = o1->final_posr->pos[1] + axis1[1]*lz1;
a1[2] = o1->final_posr->pos[2] + axis1[2]*lz1;
a2[0] = o1->final_posr->pos[0] - axis1[0]*lz1;
a2[1] = o1->final_posr->pos[1] - axis1[1]*lz1;
a2[2] = o1->final_posr->pos[2] - axis1[2]*lz1;
b1[0] = o2->final_posr->pos[0] + axis2[0]*lz2;
b1[1] = o2->final_posr->pos[1] + axis2[1]*lz2;
b1[2] = o2->final_posr->pos[2] + axis2[2]*lz2;
b2[0] = o2->final_posr->pos[0] - axis2[0]*lz2;
b2[1] = o2->final_posr->pos[1] - axis2[1]*lz2;
b2[2] = o2->final_posr->pos[2] - axis2[2]*lz2;
dClosestLineSegmentPoints (a1,a2,b1,b2,sphere1,sphere2);
return dCollideSpheres (sphere1,cyl1->radius,sphere2,cyl2->radius,contact);
}
int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dCapsuleClass);
dIASSERT (o2->type == dBoxClass);
dIASSERT ((flags & NUMC_MASK) >= 1);
dxCapsule *cyl = (dxCapsule*) o1;
dxBox *box = (dxBox*) o2;
contact->g1 = o1;
contact->g2 = o2;
contact->side1 = -1;
contact->side2 = -1;
// get p1,p2 = cylinder axis endpoints, get radius
dVector3 p1,p2;
dReal clen = cyl->lz * REAL(0.5);
p1[0] = o1->final_posr->pos[0] + clen * o1->final_posr->R[2];
p1[1] = o1->final_posr->pos[1] + clen * o1->final_posr->R[6];
p1[2] = o1->final_posr->pos[2] + clen * o1->final_posr->R[10];
p2[0] = o1->final_posr->pos[0] - clen * o1->final_posr->R[2];
p2[1] = o1->final_posr->pos[1] - clen * o1->final_posr->R[6];
p2[2] = o1->final_posr->pos[2] - clen * o1->final_posr->R[10];
dReal radius = cyl->radius;
// copy out box center, rotation matrix, and side array
dReal *c = o2->final_posr->pos;
dReal *R = o2->final_posr->R;
const dReal *side = box->side;
// get the closest point between the cylinder axis and the box
dVector3 pl,pb;
dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb);
// if the capsule is penetrated further than radius
// then pl and pb are equal (up to eps) -> unknown normal
// we simply consider the capsule as box and use the box-box algorithm
#ifdef dSINGLE
dReal mindist = REAL(1e-6);
#else
dReal mindist = REAL(1e-15);
#endif
// if (dCalcPointsDistance3(pl, pb) < mindist) {
if (dDISTANCE(pl, pb) < mindist) {
dVector3 normal;
dReal depth;
int code;
// consider capsule as box
dReal rad2 = radius*REAL(2.0);
const dVector3 capboxside = {rad2, rad2, cyl->lz + rad2};
int num = dBoxBox (c, R, side,
o1->final_posr->pos, o1->final_posr->R, capboxside,
normal, &depth, &code, flags, contact, skip);
for (int i=0; i<num; i++) {
dContactGeom *currContact = CONTACT(contact,i*skip);
currContact->normal[0] = normal[0];
currContact->normal[1] = normal[1];
currContact->normal[2] = normal[2];
currContact->g1 = o1;
currContact->g2 = o2;
currContact->side1 = -1;
currContact->side2 = -1;
}
return num;
}else{
// generate contact point
return dCollideSpheres (pl,radius,pb,0,contact);
}
}