// test for given separating axis
int sCylinderBoxData::_cldTestAxis( dVector3& vInputNormal, int iAxis )
{
// check length of input normal
dReal fL = dVector3Length(vInputNormal);
// if not long enough
if ( fL < REAL(1e-5) )
{
// do nothing
return 1;
}
// otherwise make it unit for sure
dNormalize3(vInputNormal);
// project box and Cylinder on mAxis
dReal fdot1 = dVector3Dot(m_vCylinderAxis, vInputNormal);
dReal frc;
if (fdot1 > REAL(1.0))
{
// assume fdot1 = 1
frc = m_fCylinderSize*REAL(0.5);
}
else if (fdot1 < REAL(-1.0))
{
// assume fdot1 = -1
frc = m_fCylinderSize*REAL(0.5);
}
else
{
// project box and capsule on iAxis
frc = dFabs( fdot1 * (m_fCylinderSize*REAL(0.5))) + m_fCylinderRadius * dSqrt(REAL(1.0)-(fdot1*fdot1));
}
dVector3 vTemp1;
dMat3GetCol(m_mBoxRot,0,vTemp1);
dReal frb = dFabs(dVector3Dot(vTemp1,vInputNormal))*m_vBoxHalfSize[0];
dMat3GetCol(m_mBoxRot,1,vTemp1);
frb += dFabs(dVector3Dot(vTemp1,vInputNormal))*m_vBoxHalfSize[1];
dMat3GetCol(m_mBoxRot,2,vTemp1);
frb += dFabs(dVector3Dot(vTemp1,vInputNormal))*m_vBoxHalfSize[2];
// project their distance on separating axis
dReal fd = dVector3Dot(m_vDiff,vInputNormal);
// get depth
dReal fDepth = frc + frb; // Calculate partial depth
// if they do not overlap exit, we have no intersection
if ( dFabs(fd) > fDepth )
{
return 0;
}
// Finalyze the depth calculation
fDepth -= dFabs(fd);
// get maximum depth
if ( fDepth < m_fBestDepth )
{
m_fBestDepth = fDepth;
dVector3Copy(vInputNormal,m_vNormal);
m_iBestAxis = iAxis;
m_fBestrb = frb;
m_fBestrc = frc;
// flip normal if interval is wrong faced
if (fd > 0)
{
dVector3Inv(m_vNormal);
}
}
return 1;
}
void sCylinderBoxData::_cldClipBoxToCylinder()
{
dIASSERT(m_nContacts != (m_iFlags & NUMC_MASK));
dVector3 vCylinderCirclePos, vCylinderCircleNormal_Rel;
// check which circle from cylinder we take for clipping
if ( dVector3Dot(m_vCylinderAxis, m_vNormal) > REAL(0.0) )
{
// get top circle
vCylinderCirclePos[0] = m_vCylinderPos[0] + m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
vCylinderCirclePos[1] = m_vCylinderPos[1] + m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
vCylinderCirclePos[2] = m_vCylinderPos[2] + m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
vCylinderCircleNormal_Rel[0] = REAL(0.0);
vCylinderCircleNormal_Rel[1] = REAL(0.0);
vCylinderCircleNormal_Rel[2] = REAL(0.0);
vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(-1.0);
}
else
{
// get bottom circle
vCylinderCirclePos[0] = m_vCylinderPos[0] - m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
vCylinderCirclePos[1] = m_vCylinderPos[1] - m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
vCylinderCirclePos[2] = m_vCylinderPos[2] - m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
vCylinderCircleNormal_Rel[0] = REAL(0.0);
vCylinderCircleNormal_Rel[1] = REAL(0.0);
vCylinderCircleNormal_Rel[2] = REAL(0.0);
vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(1.0);
}
// vNr is normal in Box frame, pointing from Cylinder to Box
dVector3 vNr;
dMatrix3 mBoxInv;
// Find a way to use quaternion
dMatrix3Inv(m_mBoxRot,mBoxInv);
dMultiplyMat3Vec3(mBoxInv,m_vNormal,vNr);
dVector3 vAbsNormal;
vAbsNormal[0] = dFabs( vNr[0] );
vAbsNormal[1] = dFabs( vNr[1] );
vAbsNormal[2] = dFabs( vNr[2] );
// find which face in box is closest to cylinder
int iB0, iB1, iB2;
// Different from Croteam's code
if (vAbsNormal[1] > vAbsNormal[0])
{
// 1 > 0
if (vAbsNormal[0]> vAbsNormal[2])
{
// 0 > 2 -> 1 > 0 >2
iB0 = 1; iB1 = 0; iB2 = 2;
}
else
{
// 2 > 0-> Must compare 1 and 2
if (vAbsNormal[1] > vAbsNormal[2])
{
// 1 > 2 -> 1 > 2 > 0
iB0 = 1; iB1 = 2; iB2 = 0;
}
else
{
// 2 > 1 -> 2 > 1 > 0;
iB0 = 2; iB1 = 1; iB2 = 0;
}
}
}
else
{
// 0 > 1
if (vAbsNormal[1] > vAbsNormal[2])
{
// 1 > 2 -> 0 > 1 > 2
iB0 = 0; iB1 = 1; iB2 = 2;
}
else
{
// 2 > 1 -> Must compare 0 and 2
if (vAbsNormal[0] > vAbsNormal[2])
{
// 0 > 2 -> 0 > 2 > 1;
iB0 = 0; iB1 = 2; iB2 = 1;
}
else
{
// 2 > 0 -> 2 > 0 > 1;
iB0 = 2; iB1 = 0; iB2 = 1;
}
}
}
dVector3 vCenter;
// find center of box polygon
dVector3 vTemp;
if (vNr[iB0] > 0)
{
dMat3GetCol(m_mBoxRot,iB0,vTemp);
vCenter[0] = m_vBoxPos[0] - m_vBoxHalfSize[iB0]*vTemp[0];
vCenter[1] = m_vBoxPos[1] - m_vBoxHalfSize[iB0]*vTemp[1];
vCenter[2] = m_vBoxPos[2] - m_vBoxHalfSize[iB0]*vTemp[2];
}
else
{
dMat3GetCol(m_mBoxRot,iB0,vTemp);
vCenter[0] = m_vBoxPos[0] + m_vBoxHalfSize[iB0]*vTemp[0];
vCenter[1] = m_vBoxPos[1] + m_vBoxHalfSize[iB0]*vTemp[1];
vCenter[2] = m_vBoxPos[2] + m_vBoxHalfSize[iB0]*vTemp[2];
}
// find the vertices of box polygon
dVector3 avPoints[4];
dVector3 avTempArray1[MAX_CYLBOX_CLIP_POINTS];
dVector3 avTempArray2[MAX_CYLBOX_CLIP_POINTS];
int i=0;
for(i=0; i<MAX_CYLBOX_CLIP_POINTS; i++)
{
avTempArray1[i][0] = REAL(0.0);
avTempArray1[i][1] = REAL(0.0);
avTempArray1[i][2] = REAL(0.0);
avTempArray2[i][0] = REAL(0.0);
avTempArray2[i][1] = REAL(0.0);
avTempArray2[i][2] = REAL(0.0);
}
dVector3 vAxis1, vAxis2;
dMat3GetCol(m_mBoxRot,iB1,vAxis1);
dMat3GetCol(m_mBoxRot,iB2,vAxis2);
avPoints[0][0] = vCenter[0] + m_vBoxHalfSize[iB1] * vAxis1[0] - m_vBoxHalfSize[iB2] * vAxis2[0];
avPoints[0][1] = vCenter[1] + m_vBoxHalfSize[iB1] * vAxis1[1] - m_vBoxHalfSize[iB2] * vAxis2[1];
avPoints[0][2] = vCenter[2] + m_vBoxHalfSize[iB1] * vAxis1[2] - m_vBoxHalfSize[iB2] * vAxis2[2];
avPoints[1][0] = vCenter[0] - m_vBoxHalfSize[iB1] * vAxis1[0] - m_vBoxHalfSize[iB2] * vAxis2[0];
avPoints[1][1] = vCenter[1] - m_vBoxHalfSize[iB1] * vAxis1[1] - m_vBoxHalfSize[iB2] * vAxis2[1];
avPoints[1][2] = vCenter[2] - m_vBoxHalfSize[iB1] * vAxis1[2] - m_vBoxHalfSize[iB2] * vAxis2[2];
avPoints[2][0] = vCenter[0] - m_vBoxHalfSize[iB1] * vAxis1[0] + m_vBoxHalfSize[iB2] * vAxis2[0];
avPoints[2][1] = vCenter[1] - m_vBoxHalfSize[iB1] * vAxis1[1] + m_vBoxHalfSize[iB2] * vAxis2[1];
avPoints[2][2] = vCenter[2] - m_vBoxHalfSize[iB1] * vAxis1[2] + m_vBoxHalfSize[iB2] * vAxis2[2];
avPoints[3][0] = vCenter[0] + m_vBoxHalfSize[iB1] * vAxis1[0] + m_vBoxHalfSize[iB2] * vAxis2[0];
avPoints[3][1] = vCenter[1] + m_vBoxHalfSize[iB1] * vAxis1[1] + m_vBoxHalfSize[iB2] * vAxis2[1];
avPoints[3][2] = vCenter[2] + m_vBoxHalfSize[iB1] * vAxis1[2] + m_vBoxHalfSize[iB2] * vAxis2[2];
// transform box points to space of cylinder circle
dMatrix3 mCylinderInv;
dMatrix3Inv(m_mCylinderRot,mCylinderInv);
for(i=0; i<4; i++)
{
dVector3Subtract(avPoints[i],vCylinderCirclePos,vTemp);
dMultiplyMat3Vec3(mCylinderInv,vTemp,avPoints[i]);
}
int iTmpCounter1 = 0;
int iTmpCounter2 = 0;
dVector4 plPlane;
// plane of cylinder that contains circle for intersection
dConstructPlane(vCylinderCircleNormal_Rel,REAL(0.0),plPlane);
dClipPolyToPlane(avPoints, 4, avTempArray1, iTmpCounter1, plPlane);
// Body of base circle of Cylinder
int nCircleSegment = 0;
for (nCircleSegment = 0; nCircleSegment < nCYLINDER_SEGMENT; nCircleSegment++)
{
dConstructPlane(m_avCylinderNormals[nCircleSegment],m_fCylinderRadius,plPlane);
if (0 == (nCircleSegment % 2))
{
dClipPolyToPlane( avTempArray1 , iTmpCounter1 , avTempArray2, iTmpCounter2, plPlane);
}
else
{
dClipPolyToPlane( avTempArray2, iTmpCounter2, avTempArray1 , iTmpCounter1 , plPlane );
}
dIASSERT( iTmpCounter1 >= 0 && iTmpCounter1 <= MAX_CYLBOX_CLIP_POINTS );
dIASSERT( iTmpCounter2 >= 0 && iTmpCounter2 <= MAX_CYLBOX_CLIP_POINTS );
}
// back transform clipped points to absolute space
dReal ftmpdot;
dReal fTempDepth;
dVector3 vPoint;
if (nCircleSegment % 2)
{
for( i=0; i<iTmpCounter2; i++)
{
dMultiply0_331(vPoint,m_mCylinderRot,avTempArray2[i]);
vPoint[0] += vCylinderCirclePos[0];
vPoint[1] += vCylinderCirclePos[1];
vPoint[2] += vCylinderCirclePos[2];
dVector3Subtract(vPoint,m_vCylinderPos,vTemp);
ftmpdot = dVector3Dot(vTemp, m_vNormal);
fTempDepth = m_fBestrc - ftmpdot;
// Depth must be positive
if (fTempDepth > REAL(0.0))
{
// generate contacts
dContactGeom* Contact0 = SAFECONTACT(m_iFlags, m_gContact, m_nContacts, m_iSkip);
Contact0->depth = fTempDepth;
dVector3Copy(m_vNormal,Contact0->normal);
dVector3Copy(vPoint,Contact0->pos);
Contact0->g1 = m_gCylinder;
Contact0->g2 = m_gBox;
Contact0->side1 = -1;
Contact0->side2 = -1;
dVector3Inv(Contact0->normal);
m_nContacts++;
if (m_nContacts == (m_iFlags & NUMC_MASK))
{
break;
}
}
}
}
else
{
for( i=0; i<iTmpCounter1; i++)
{
dMultiply0_331(vPoint,m_mCylinderRot,avTempArray1[i]);
vPoint[0] += vCylinderCirclePos[0];
vPoint[1] += vCylinderCirclePos[1];
vPoint[2] += vCylinderCirclePos[2];
dVector3Subtract(vPoint,m_vCylinderPos,vTemp);
ftmpdot = dVector3Dot(vTemp, m_vNormal);
fTempDepth = m_fBestrc - ftmpdot;
// Depth must be positive
if (fTempDepth > REAL(0.0))
{
// generate contacts
dContactGeom* Contact0 = SAFECONTACT(m_iFlags, m_gContact, m_nContacts, m_iSkip);
Contact0->depth = fTempDepth;
dVector3Copy(m_vNormal,Contact0->normal);
dVector3Copy(vPoint,Contact0->pos);
Contact0->g1 = m_gCylinder;
Contact0->g2 = m_gBox;
Contact0->side1 = -1;
Contact0->side2 = -1;
dVector3Inv(Contact0->normal);
m_nContacts++;
if (m_nContacts == (m_iFlags & NUMC_MASK))
{
break;
}
}
}
}
}
int dCollideCylinderPlane(dxGeom *Cylinder, dxGeom *Plane, int flags, dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (Cylinder->type == dCylinderClass);
dIASSERT (Plane->type == dPlaneClass);
dIASSERT ((flags & NUMC_MASK) >= 1);
int GeomCount = 0; // count of used contactgeoms
#ifdef dSINGLE
const dReal toleranz = REAL(0.0001);
#endif
#ifdef dDOUBLE
const dReal toleranz = REAL(0.0000001);
#endif
// Get the properties of the cylinder (length+radius)
dReal radius, length;
dGeomCylinderGetParams(Cylinder, &radius, &length);
dVector3 &cylpos = Cylinder->final_posr->pos;
// and the plane
dVector4 planevec;
dGeomPlaneGetParams(Plane, planevec);
dVector3 PlaneNormal = {planevec[0],planevec[1],planevec[2]};
//dVector3 PlanePos = {planevec[0] * planevec[3],planevec[1] * planevec[3],planevec[2] * planevec[3]};
dVector3 G1Pos1, G1Pos2, vDir1;
vDir1[0] = Cylinder->final_posr->R[2];
vDir1[1] = Cylinder->final_posr->R[6];
vDir1[2] = Cylinder->final_posr->R[10];
dReal s;
s = length * REAL(0.5);
G1Pos2[0] = vDir1[0] * s + cylpos[0];
G1Pos2[1] = vDir1[1] * s + cylpos[1];
G1Pos2[2] = vDir1[2] * s + cylpos[2];
G1Pos1[0] = vDir1[0] * -s + cylpos[0];
G1Pos1[1] = vDir1[1] * -s + cylpos[1];
G1Pos1[2] = vDir1[2] * -s + cylpos[2];
dVector3 C;
// parallel-check
s = vDir1[0] * PlaneNormal[0] + vDir1[1] * PlaneNormal[1] + vDir1[2] * PlaneNormal[2];
if(s < 0)
s += REAL(1.0); // is ca. 0, if vDir1 and PlaneNormal are parallel
else
s -= REAL(1.0); // is ca. 0, if vDir1 and PlaneNormal are parallel
if(s < toleranz && s > (-toleranz))
{
// discs are parallel to the plane
// 1.compute if, and where contacts are
dVector3 P;
s = planevec[3] - dVector3Dot(planevec, G1Pos1);
dReal t;
t = planevec[3] - dVector3Dot(planevec, G1Pos2);
if(s >= t) // s == t does never happen,
{
if(s >= 0)
{
// 1. Disc
dVector3Copy(G1Pos1, P);
}
else
return GeomCount; // no contacts
}
else
{
if(t >= 0)
{
// 2. Disc
dVector3Copy(G1Pos2, P);
}
else
return GeomCount; // no contacts
}
// 2. generate a coordinate-system on the disc
dVector3 V1, V2;
if(vDir1[0] < toleranz && vDir1[0] > (-toleranz))
{
// not x-axis
V1[0] = vDir1[0] + REAL(1.0); // random value
V1[1] = vDir1[1];
V1[2] = vDir1[2];
}
else
{
// maybe x-axis
V1[0] = vDir1[0];
V1[1] = vDir1[1] + REAL(1.0); // random value
V1[2] = vDir1[2];
}
// V1 is now another direction than vDir1
// Cross-product
dVector3Cross(V1, vDir1, V2);
// make unit V2
t = dVector3Length(V2);
t = radius / t;
dVector3Scale(V2, t);
// cross again
dVector3Cross(V2, vDir1, V1);
// |V2| is 'radius' and vDir1 unit, so |V1| is 'radius'
// V1 = first axis
// V2 = second axis
// 3. generate contactpoints
// Potential contact 1
dVector3Add(P, V1, contact->pos);
contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
if(contact->depth > 0)
{
dVector3Copy(PlaneNormal, contact->normal);
contact->g1 = Cylinder;
contact->g2 = Plane;
contact->side1 = -1;
contact->side2 = -1;
GeomCount++;
if( GeomCount >= (flags & NUMC_MASK))
return GeomCount; // enough contactgeoms
contact = (dContactGeom *)((char *)contact + skip);
}
// Potential contact 2
dVector3Subtract(P, V1, contact->pos);
contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
if(contact->depth > 0)
{
dVector3Copy(PlaneNormal, contact->normal);
contact->g1 = Cylinder;
contact->g2 = Plane;
contact->side1 = -1;
contact->side2 = -1;
GeomCount++;
if( GeomCount >= (flags & NUMC_MASK))
return GeomCount; // enough contactgeoms
contact = (dContactGeom *)((char *)contact + skip);
}
// Potential contact 3
dVector3Add(P, V2, contact->pos);
contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
if(contact->depth > 0)
{
dVector3Copy(PlaneNormal, contact->normal);
contact->g1 = Cylinder;
contact->g2 = Plane;
contact->side1 = -1;
contact->side2 = -1;
GeomCount++;
if( GeomCount >= (flags & NUMC_MASK))
return GeomCount; // enough contactgeoms
contact = (dContactGeom *)((char *)contact + skip);
}
// Potential contact 4
dVector3Subtract(P, V2, contact->pos);
contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
if(contact->depth > 0)
{
dVector3Copy(PlaneNormal, contact->normal);
contact->g1 = Cylinder;
contact->g2 = Plane;
contact->side1 = -1;
contact->side2 = -1;
GeomCount++;
if( GeomCount >= (flags & NUMC_MASK))
return GeomCount; // enough contactgeoms
contact = (dContactGeom *)((char *)contact + skip);
}
}
else
{
dReal t = dVector3Dot(PlaneNormal, vDir1);
C[0] = vDir1[0] * t - PlaneNormal[0];
C[1] = vDir1[1] * t - PlaneNormal[1];
C[2] = vDir1[2] * t - PlaneNormal[2];
s = dVector3Length(C);
// move C onto the circle
s = radius / s;
dVector3Scale(C, s);
// deepest point of disc 1
dVector3Add(C, G1Pos1, contact->pos);
// depth of the deepest point
contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
if(contact->depth >= 0)
{
dVector3Copy(PlaneNormal, contact->normal);
contact->g1 = Cylinder;
contact->g2 = Plane;
contact->side1 = -1;
contact->side2 = -1;
GeomCount++;
if( GeomCount >= (flags & NUMC_MASK))
return GeomCount; // enough contactgeoms
contact = (dContactGeom *)((char *)contact + skip);
}
// C is still computed
// deepest point of disc 2
dVector3Add(C, G1Pos2, contact->pos);
// depth of the deepest point
contact->depth = planevec[3] - planevec[0] * contact->pos[0] - planevec[1] * contact->pos[1] - planevec[2] * contact->pos[2];
if(contact->depth >= 0)
{
dVector3Copy(PlaneNormal, contact->normal);
contact->g1 = Cylinder;
contact->g2 = Plane;
contact->side1 = -1;
contact->side2 = -1;
GeomCount++;
if( GeomCount >= (flags & NUMC_MASK))
return GeomCount; // enough contactgeoms
contact = (dContactGeom *)((char *)contact + skip);
}
}
return GeomCount;
}
int sCylinderBoxData::_cldClipCylinderToBox()
{
dIASSERT(m_nContacts != (m_iFlags & NUMC_MASK));
// calculate that vector perpendicular to cylinder axis which closes lowest angle with collision normal
dVector3 vN;
dReal fTemp1 = dVector3Dot(m_vCylinderAxis,m_vNormal);
vN[0] = m_vNormal[0] - m_vCylinderAxis[0]*fTemp1;
vN[1] = m_vNormal[1] - m_vCylinderAxis[1]*fTemp1;
vN[2] = m_vNormal[2] - m_vCylinderAxis[2]*fTemp1;
// normalize that vector
dNormalize3(vN);
// translate cylinder end points by the vector
dVector3 vCposTrans;
vCposTrans[0] = m_vCylinderPos[0] + vN[0] * m_fCylinderRadius;
vCposTrans[1] = m_vCylinderPos[1] + vN[1] * m_fCylinderRadius;
vCposTrans[2] = m_vCylinderPos[2] + vN[2] * m_fCylinderRadius;
m_vEp0[0] = vCposTrans[0] + m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
m_vEp0[1] = vCposTrans[1] + m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
m_vEp0[2] = vCposTrans[2] + m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
m_vEp1[0] = vCposTrans[0] - m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
m_vEp1[1] = vCposTrans[1] - m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
m_vEp1[2] = vCposTrans[2] - m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
// transform edge points in box space
m_vEp0[0] -= m_vBoxPos[0];
m_vEp0[1] -= m_vBoxPos[1];
m_vEp0[2] -= m_vBoxPos[2];
m_vEp1[0] -= m_vBoxPos[0];
m_vEp1[1] -= m_vBoxPos[1];
m_vEp1[2] -= m_vBoxPos[2];
dVector3 vTemp1;
// clip the edge to box
dVector4 plPlane;
// plane 0 +x
dMat3GetCol(m_mBoxRot,0,vTemp1);
dConstructPlane(vTemp1,m_vBoxHalfSize[0],plPlane);
if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
{
return 0;
}
// plane 1 +y
dMat3GetCol(m_mBoxRot,1,vTemp1);
dConstructPlane(vTemp1,m_vBoxHalfSize[1],plPlane);
if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
{
return 0;
}
// plane 2 +z
dMat3GetCol(m_mBoxRot,2,vTemp1);
dConstructPlane(vTemp1,m_vBoxHalfSize[2],plPlane);
if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
{
return 0;
}
// plane 3 -x
dMat3GetCol(m_mBoxRot,0,vTemp1);
dVector3Inv(vTemp1);
dConstructPlane(vTemp1,m_vBoxHalfSize[0],plPlane);
if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
{
return 0;
}
// plane 4 -y
dMat3GetCol(m_mBoxRot,1,vTemp1);
dVector3Inv(vTemp1);
dConstructPlane(vTemp1,m_vBoxHalfSize[1],plPlane);
if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
{
return 0;
}
// plane 5 -z
dMat3GetCol(m_mBoxRot,2,vTemp1);
dVector3Inv(vTemp1);
dConstructPlane(vTemp1,m_vBoxHalfSize[2],plPlane);
if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
{
return 0;
}
// calculate depths for both contact points
m_fDepth0 = m_fBestrb + dVector3Dot(m_vEp0, m_vNormal);
m_fDepth1 = m_fBestrb + dVector3Dot(m_vEp1, m_vNormal);
// clamp depths to 0
if(m_fDepth0<0)
{
m_fDepth0 = REAL(0.0);
}
if(m_fDepth1<0)
{
m_fDepth1 = REAL(0.0);
}
// back transform edge points from box to absolute space
m_vEp0[0] += m_vBoxPos[0];
m_vEp0[1] += m_vBoxPos[1];
m_vEp0[2] += m_vBoxPos[2];
m_vEp1[0] += m_vBoxPos[0];
m_vEp1[1] += m_vBoxPos[1];
m_vEp1[2] += m_vBoxPos[2];
dContactGeom* Contact0 = SAFECONTACT(m_iFlags, m_gContact, m_nContacts, m_iSkip);
Contact0->depth = m_fDepth0;
dVector3Copy(m_vNormal,Contact0->normal);
dVector3Copy(m_vEp0,Contact0->pos);
Contact0->g1 = m_gCylinder;
Contact0->g2 = m_gBox;
Contact0->side1 = -1;
Contact0->side2 = -1;
dVector3Inv(Contact0->normal);
m_nContacts++;
if (m_nContacts != (m_iFlags & NUMC_MASK))
{
dContactGeom* Contact1 = SAFECONTACT(m_iFlags, m_gContact, m_nContacts, m_iSkip);
Contact1->depth = m_fDepth1;
dVector3Copy(m_vNormal,Contact1->normal);
dVector3Copy(m_vEp1,Contact1->pos);
Contact1->g1 = m_gCylinder;
Contact1->g2 = m_gBox;
Contact1->side1 = -1;
Contact1->side2 = -1;
dVector3Inv(Contact1->normal);
m_nContacts++;
}
return 1;
}
