void _InitCylinderTrimeshData(sData& cData)
{
// get cylinder information
// Rotation
const dReal* pRotCyc = dGeomGetRotation(cData.gCylinder);
dMatrix3Copy(pRotCyc,cData.mCylinderRot);
dGeomGetQuaternion(cData.gCylinder,cData.qCylinderRot);
// Position
const dVector3* pPosCyc = (const dVector3*)dGeomGetPosition(cData.gCylinder);
dVector3Copy(*pPosCyc,cData.vCylinderPos);
// Cylinder axis
dMat3GetCol(cData.mCylinderRot,nCYLINDER_AXIS,cData.vCylinderAxis);
// get cylinder radius and size
dGeomCylinderGetParams(cData.gCylinder,&cData.fCylinderRadius,&cData.fCylinderSize);
// get trimesh position and orientation
const dReal* pRotTris = dGeomGetRotation(cData.gTrimesh);
dMatrix3Copy(pRotTris,cData.mTrimeshRot);
dGeomGetQuaternion(cData.gTrimesh,cData.qTrimeshRot);
// Position
const dVector3* pPosTris = (const dVector3*)dGeomGetPosition(cData.gTrimesh);
dVector3Copy(*pPosTris,cData.vTrimeshPos);
// calculate basic angle for 8-gon
dReal fAngle = M_PI / nCYLINDER_CIRCLE_SEGMENTS;
// calculate angle increment
dReal fAngleIncrement = fAngle*REAL(2.0);
// calculate plane normals
// axis dependant code
for(int i=0; i<nCYLINDER_CIRCLE_SEGMENTS; i++)
{
cData.avCylinderNormals[i][0] = -dCos(fAngle);
cData.avCylinderNormals[i][1] = -dSin(fAngle);
cData.avCylinderNormals[i][2] = REAL(0.0);
fAngle += fAngleIncrement;
}
dSetZero(cData.vBestPoint,4);
// reset best depth
cData.fBestCenter = REAL(0.0);
}
// initialize collision data
void _cldInitCylinderBox(sCylinderBoxData& cData)
{
// get cylinder position, orientation
const dReal* pRotCyc = dGeomGetRotation(cData.gCylinder);
dMatrix3Copy(pRotCyc,cData.mCylinderRot);
const dVector3* pPosCyc = (const dVector3*)dGeomGetPosition(cData.gCylinder);
dVector3Copy(*pPosCyc,cData.vCylinderPos);
dMat3GetCol(cData.mCylinderRot,nCYLINDER_AXIS,cData.vCylinderAxis);
// get cylinder radius and size
dGeomCylinderGetParams(cData.gCylinder,&cData.fCylinderRadius,&cData.fCylinderSize);
// get box position, orientation, size
const dReal* pRotBox = dGeomGetRotation(cData.gBox);
dMatrix3Copy(pRotBox,cData.mBoxRot);
const dVector3* pPosBox = (const dVector3*)dGeomGetPosition(cData.gBox);
dVector3Copy(*pPosBox,cData.vBoxPos);
dGeomBoxGetLengths(cData.gBox, cData.vBoxHalfSize);
cData.vBoxHalfSize[0] *= REAL(0.5);
cData.vBoxHalfSize[1] *= REAL(0.5);
cData.vBoxHalfSize[2] *= REAL(0.5);
// vertex 0
cData.avBoxVertices[0][0] = -cData.vBoxHalfSize[0];
cData.avBoxVertices[0][1] = cData.vBoxHalfSize[1];
cData.avBoxVertices[0][2] = -cData.vBoxHalfSize[2];
// vertex 1
cData.avBoxVertices[1][0] = cData.vBoxHalfSize[0];
cData.avBoxVertices[1][1] = cData.vBoxHalfSize[1];
cData.avBoxVertices[1][2] = -cData.vBoxHalfSize[2];
// vertex 2
cData.avBoxVertices[2][0] = -cData.vBoxHalfSize[0];
cData.avBoxVertices[2][1] = -cData.vBoxHalfSize[1];
cData.avBoxVertices[2][2] = -cData.vBoxHalfSize[2];
// vertex 3
cData.avBoxVertices[3][0] = cData.vBoxHalfSize[0];
cData.avBoxVertices[3][1] = -cData.vBoxHalfSize[1];
cData.avBoxVertices[3][2] = -cData.vBoxHalfSize[2];
// vertex 4
cData.avBoxVertices[4][0] = cData.vBoxHalfSize[0];
cData.avBoxVertices[4][1] = cData.vBoxHalfSize[1];
cData.avBoxVertices[4][2] = cData.vBoxHalfSize[2];
// vertex 5
cData.avBoxVertices[5][0] = cData.vBoxHalfSize[0];
cData.avBoxVertices[5][1] = -cData.vBoxHalfSize[1];
cData.avBoxVertices[5][2] = cData.vBoxHalfSize[2];
// vertex 6
cData.avBoxVertices[6][0] = -cData.vBoxHalfSize[0];
cData.avBoxVertices[6][1] = -cData.vBoxHalfSize[1];
cData.avBoxVertices[6][2] = cData.vBoxHalfSize[2];
// vertex 7
cData.avBoxVertices[7][0] = -cData.vBoxHalfSize[0];
cData.avBoxVertices[7][1] = cData.vBoxHalfSize[1];
cData.avBoxVertices[7][2] = cData.vBoxHalfSize[2];
// temp index
int i = 0;
dVector3 vTempBoxVertices[8];
// transform vertices in absolute space
for(i=0; i < 8; i++)
{
dMultiplyMat3Vec3(cData.mBoxRot,cData.avBoxVertices[i], vTempBoxVertices[i]);
dVector3Add(vTempBoxVertices[i], cData.vBoxPos, cData.avBoxVertices[i]);
}
// find relative position
dVector3Subtract(cData.vCylinderPos,cData.vBoxPos,cData.vDiff);
cData.fBestDepth = MAX_FLOAT;
cData.vNormal[0] = REAL(0.0);
cData.vNormal[1] = REAL(0.0);
cData.vNormal[2] = REAL(0.0);
// calculate basic angle for nCYLINDER_SEGMENT-gon
dReal fAngle = M_PI/nCYLINDER_SEGMENT;
// calculate angle increment
dReal fAngleIncrement = fAngle * REAL(2.0);
// calculate nCYLINDER_SEGMENT-gon points
for(i = 0; i < nCYLINDER_SEGMENT; i++)
{
cData.avCylinderNormals[i][0] = -dCos(fAngle);
cData.avCylinderNormals[i][1] = -dSin(fAngle);
cData.avCylinderNormals[i][2] = 0;
fAngle += fAngleIncrement;
}
cData.fBestrb = 0;
cData.fBestrc = 0;
cData.iBestAxis = 0;
cData.nContacts = 0;
}
// initialize collision data
void sCylinderBoxData::_cldInitCylinderBox()
{
// get cylinder position, orientation
const dReal* pRotCyc = dGeomGetRotation(m_gCylinder);
dMatrix3Copy(pRotCyc,m_mCylinderRot);
const dVector3* pPosCyc = (const dVector3*)dGeomGetPosition(m_gCylinder);
dVector3Copy(*pPosCyc,m_vCylinderPos);
dMat3GetCol(m_mCylinderRot,nCYLINDER_AXIS,m_vCylinderAxis);
// get cylinder radius and size
dGeomCylinderGetParams(m_gCylinder,&m_fCylinderRadius,&m_fCylinderSize);
// get box position, orientation, size
const dReal* pRotBox = dGeomGetRotation(m_gBox);
dMatrix3Copy(pRotBox,m_mBoxRot);
const dVector3* pPosBox = (const dVector3*)dGeomGetPosition(m_gBox);
dVector3Copy(*pPosBox,m_vBoxPos);
dGeomBoxGetLengths(m_gBox, m_vBoxHalfSize);
m_vBoxHalfSize[0] *= REAL(0.5);
m_vBoxHalfSize[1] *= REAL(0.5);
m_vBoxHalfSize[2] *= REAL(0.5);
// vertex 0
m_avBoxVertices[0][0] = -m_vBoxHalfSize[0];
m_avBoxVertices[0][1] = m_vBoxHalfSize[1];
m_avBoxVertices[0][2] = -m_vBoxHalfSize[2];
// vertex 1
m_avBoxVertices[1][0] = m_vBoxHalfSize[0];
m_avBoxVertices[1][1] = m_vBoxHalfSize[1];
m_avBoxVertices[1][2] = -m_vBoxHalfSize[2];
// vertex 2
m_avBoxVertices[2][0] = -m_vBoxHalfSize[0];
m_avBoxVertices[2][1] = -m_vBoxHalfSize[1];
m_avBoxVertices[2][2] = -m_vBoxHalfSize[2];
// vertex 3
m_avBoxVertices[3][0] = m_vBoxHalfSize[0];
m_avBoxVertices[3][1] = -m_vBoxHalfSize[1];
m_avBoxVertices[3][2] = -m_vBoxHalfSize[2];
// vertex 4
m_avBoxVertices[4][0] = m_vBoxHalfSize[0];
m_avBoxVertices[4][1] = m_vBoxHalfSize[1];
m_avBoxVertices[4][2] = m_vBoxHalfSize[2];
// vertex 5
m_avBoxVertices[5][0] = m_vBoxHalfSize[0];
m_avBoxVertices[5][1] = -m_vBoxHalfSize[1];
m_avBoxVertices[5][2] = m_vBoxHalfSize[2];
// vertex 6
m_avBoxVertices[6][0] = -m_vBoxHalfSize[0];
m_avBoxVertices[6][1] = -m_vBoxHalfSize[1];
m_avBoxVertices[6][2] = m_vBoxHalfSize[2];
// vertex 7
m_avBoxVertices[7][0] = -m_vBoxHalfSize[0];
m_avBoxVertices[7][1] = m_vBoxHalfSize[1];
m_avBoxVertices[7][2] = m_vBoxHalfSize[2];
// temp index
int i = 0;
dVector3 vTempBoxVertices[8];
// transform vertices in absolute space
for(i=0; i < 8; i++)
{
dMultiplyMat3Vec3(m_mBoxRot,m_avBoxVertices[i], vTempBoxVertices[i]);
dVector3Add(vTempBoxVertices[i], m_vBoxPos, m_avBoxVertices[i]);
}
// find relative position
dVector3Subtract(m_vCylinderPos,m_vBoxPos,m_vDiff);
m_fBestDepth = MAX_FLOAT;
m_vNormal[0] = REAL(0.0);
m_vNormal[1] = REAL(0.0);
m_vNormal[2] = REAL(0.0);
// calculate basic angle for nCYLINDER_SEGMENT-gon
dReal fAngle = (dReal) (M_PI/nCYLINDER_SEGMENT);
// calculate angle increment
dReal fAngleIncrement = fAngle * REAL(2.0);
// calculate nCYLINDER_SEGMENT-gon points
for(i = 0; i < nCYLINDER_SEGMENT; i++)
{
m_avCylinderNormals[i][0] = -dCos(fAngle);
m_avCylinderNormals[i][1] = -dSin(fAngle);
m_avCylinderNormals[i][2] = 0;
fAngle += fAngleIncrement;
}
m_fBestrb = 0;
m_fBestrc = 0;
m_iBestAxis = 0;
m_nContacts = 0;
}
