// Cylinder - Box by CroTeam
// Ported by Nguyen Binh
int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
{
sCylinderBoxData cData;
// Assign ODE stuff
cData.gCylinder = o1;
cData.gBox = o2;
cData.iFlags = flags;
cData.iSkip = skip;
cData.gContact = contact;
// initialize collider
_cldInitCylinderBox( cData );
// do intersection test and find best separating axis
if(!_cldTestSeparatingAxes( cData ) )
{
// if not found do nothing
return 0;
}
// if best separation axis is not found
if ( cData.iBestAxis == 0 )
{
// this should not happen (we should already exit in that case)
dIASSERT(0);
// do nothing
return 0;
}
dReal fdot = dVector3Dot(cData.vNormal,cData.vCylinderAxis);
// choose which clipping method are we going to apply
if (dFabs(fdot) < REAL(0.9) )
{
// clip cylinder over box
if(!_cldClipCylinderToBox(cData))
{
return 0;
}
}
else
{
_cldClipBoxToCylinder(cData);
}
return cData.nContacts;
}
int sCylinderBoxData::PerformCollisionChecking()
{
// initialize collider
_cldInitCylinderBox();
// do intersection test and find best separating axis
if ( !_cldTestSeparatingAxes() )
{
// if not found do nothing
return 0;
}
// if best separation axis is not found
if ( m_iBestAxis == 0 )
{
// this should not happen (we should already exit in that case)
dIASSERT(0);
// do nothing
return 0;
}
dReal fdot = dVector3Dot(m_vNormal,m_vCylinderAxis);
// choose which clipping method are we going to apply
if (dFabs(fdot) < REAL(0.9) )
{
// clip cylinder over box
if(!_cldClipCylinderToBox())
{
return 0;
}
}
else
{
_cldClipBoxToCylinder();
}
return m_nContacts;
}
void TestOneTriangleVsCylinder( sData& cData,
const dVector3 &v0,
const dVector3 &v1,
const dVector3 &v2,
const bool bDoubleSided)
{
// calculate triangle normal
dVector3Subtract( v2 , v1 ,cData.vE1);
dVector3 vTemp;
dVector3Subtract( v0 , v1 ,vTemp);
dVector3Cross(cData.vE1 , vTemp , cData.vNormal );
dNormalize3( cData.vNormal);
// create plane from triangle
//Plane4f plTrianglePlane = Plane4f( vPolyNormal, v0 );
dReal plDistance = -dVector3Dot(v0, cData.vNormal);
dVector4 plTrianglePlane;
dConstructPlane( cData.vNormal,plDistance,plTrianglePlane);
// calculate sphere distance to plane
dReal fDistanceCylinderCenterToPlane = dPointPlaneDistance(cData.vCylinderPos , plTrianglePlane);
// Sphere must be over positive side of triangle
if(fDistanceCylinderCenterToPlane < 0 && !bDoubleSided)
{
// if not don't generate contacts
return;
}
dVector3 vPnt0;
dVector3 vPnt1;
dVector3 vPnt2;
if (fDistanceCylinderCenterToPlane < REAL(0.0) )
{
// flip it
dVector3Copy(v0 , vPnt0);
dVector3Copy(v1 , vPnt2);
dVector3Copy(v2 , vPnt1);
}
else
{
dVector3Copy(v0 , vPnt0);
dVector3Copy(v1 , vPnt1);
dVector3Copy(v2 , vPnt2);
}
cData.fBestDepth = MAX_REAL;
// do intersection test and find best separating axis
if(!_cldTestSeparatingAxes(cData , vPnt0, vPnt1, vPnt2) )
{
// if not found do nothing
return;
}
// if best separation axis is not found
if ( cData.iBestAxis == 0 )
{
// this should not happen (we should already exit in that case)
dIASSERT(false);
// do nothing
return;
}
dReal fdot = dVector3Dot( cData.vContactNormal , cData.vCylinderAxis );
// choose which clipping method are we going to apply
if (dFabs(fdot) < REAL(0.9) )
{
if (!_cldClipCylinderEdgeToTriangle(cData ,vPnt0, vPnt1, vPnt2))
{
return;
}
}
else
{
_cldClipCylinderToTriangle(cData ,vPnt0, vPnt1, vPnt2);
}
}
