bool CollisionDetector::TriangleCollisionAlgorithm(const Object& objectA, const Object& objectB)
{
//Position
Ogre::Vector3 positionA=objectA.Node->_getDerivedPosition();
Ogre::Vector3 positionB=objectB.Node->_getDerivedPosition();
//Orientation
Ogre::Quaternion orientationA=objectA.Node->_getDerivedOrientation();
Ogre::Quaternion orientationB=objectB.Node->_getDerivedOrientation();
//FullTransform
Ogre::Matrix4 transformA=objectA.Node->_getFullTransform();
Ogre::Matrix4 transformB=objectB.Node->_getFullTransform();
//trzyprzejściowe pętle bardzo wszystko spowalniały, więc trzeba sobie radzić inaczej
Ogre::Vector3 a0,a1,a2, b0,b1,b2;
//dla każdego trójkąta A
for(int faceIndexA=0;faceIndexA<objectA.IndicesBuffer.size()/3;faceIndexA++)
{
//trójkąt A
a0=transformA*objectA.VerticesBuffer[objectA.IndicesBuffer[3*faceIndexA]];
//std::cout<<a0<<" "<<objectA.VerticesBuffer[objectA.IndicesBuffer[3*faceIndexA]]<<" "<<positionA<<std::endl;
a1=transformA*objectA.VerticesBuffer[objectA.IndicesBuffer[3*faceIndexA+1]];
a2=transformA*objectA.VerticesBuffer[objectA.IndicesBuffer[3*faceIndexA+2]];
//sprawdzamy każdy trójkąt B
for(int faceIndexB=0;faceIndexB<objectB.IndicesBuffer.size()/3;faceIndexB++)
{
//trójkąt B
b0=transformB*objectB.VerticesBuffer[objectB.IndicesBuffer[3*faceIndexB]];
b1=transformB*objectB.VerticesBuffer[objectB.IndicesBuffer[3*faceIndexB+1]];
b2=transformB*objectB.VerticesBuffer[objectB.IndicesBuffer[3*faceIndexB+2]];
//if(Moller(a0, a1, a2, b0, b1, b2))
if(NoDivTriTriIsect(&a0.x,&a1.x,&a2.x,&b0.x,&b1.x,&b2.x))
return true;
}
}
return false;
}
bool xtCollisionEngine::TriTriCollision(int i, int j)
{
std::vector<xtVector3d> &iverts = mSurfI->verts;
xtIndexTria3 &itria = mSurfI->indices[i];
xtVector3d ipa = iverts[itria.a[0]];
xtVector3d ipb = iverts[itria.a[1]];
xtVector3d ipc = iverts[itria.a[2]];
//ipa = mSurfI->tran + mSurfI->rot*ipa;
//ipb = mSurfI->tran + mSurfI->rot*ipb;
//ipc = mSurfI->tran + mSurfI->rot*ipc;
std::vector<xtVector3d> &jverts = mSurfJ->verts;
xtIndexTria3 &jtria = mSurfJ->indices[j];
xtVector3d jpa = jverts[jtria.a[0]];
xtVector3d jpb = jverts[jtria.a[1]];
xtVector3d jpc = jverts[jtria.a[2]];
//jpa = mSurfJ->tran + mSurfJ->rot*jpa;
//jpb = mSurfJ->tran + mSurfJ->rot*jpb;
//jpc = mSurfJ->tran + mSurfJ->rot*jpc;
jpa = tranj2i + rotj2i*jpa;
jpb = tranj2i + rotj2i*jpb;
jpc = tranj2i + rotj2i*jpc;
float v0[3] = {(float)ipa.x(),(float)ipa.y(),(float)ipa.z()};
float v1[3] = {(float)ipb.x(),(float)ipb.y(),(float)ipb.z()};
float v2[3] = {(float)ipc.x(),(float)ipc.y(),(float)ipc.z()};
float u0[3] = {(float)jpa.x(),(float)jpa.y(),(float)jpa.z()};
float u1[3] = {(float)jpb.x(),(float)jpb.y(),(float)jpb.z()};
float u2[3] = {(float)jpc.x(),(float)jpc.y(),(float)jpc.z()};
if ( 1==NoDivTriTriIsect(v0,v1,v2,u0,u1,u2) ) {
return true;
} else {
return false;
}
}
