SpatialMarkup
RangeConvex::testNode(const SpatialVector & v0,
const SpatialVector & v1,
const SpatialVector & v2) {
// Start with testing the vertices for the QuadNode with this convex.
int vsum = testVertex(v0) + testVertex(v1) + testVertex(v2);
#ifdef DIAGNOSE
char name[10];
SpatialVector v = v0 + v1 + v2;
cout << index_->nameById(index_->idByPoint(v),name)
<< " " << vsum << " " << endl;
#endif
SpatialMarkup mark =
testTriangle( v0, v1, v2, vsum);
#ifdef DIAGNOSE
cout << ( mark == pARTIAL ? " partial " :
( mark == fULL ? " full " :
( mark == rEJECT ? " reject " :
" dontknow " ) ) ) << name << endl;
/*
<< v0 << "," << v1 << "," << v2 << " " << endl;
<< V(NV(0)) << " , " << V(NV(1)) << " , " << V(NV(2)) << endl
<< " (" << V(NV(0)).ra() << "," << V(NV(0)).dec() << ")"
<< " (" << V(NV(1)).ra() << "," << V(NV(1)).dec() << ")"
<< " (" << V(NV(2)).ra() << "," << V(NV(2)).dec() << ")"
<< endl;
*/
#endif
// since we cannot play games using the on-the-fly triangles,
// substitute dontknow with partial.
if (mark == dONTKNOW)
mark = pARTIAL;
return mark;
}
int testVertex( int v , Vec3D& vtx )
{
int cx = int( vtx.x() / m_cellLen );
int cy = int( vtx.y() / m_cellLen );
int cz = int( vtx.z() / m_cellLen );
for ( int i = -1 ; i <= 1 ; ++i )
for ( int j = -1 ; j <= 1 ; ++j )
for ( int k = -1 ; k <= 1 ; ++k )
{
unsigned cell = computeHashCellIndex( cx + i , cy + j , cz + j );
int vT = testVertex( vtx , cell );
if ( vT != -1)
return vT;
}
unsigned cell = computeHashCellIndex( cx , cy , cz );
m_cell[cell].push_back( v );
return -1;
}
bool ConvexFeature::collide(ConvexFeature& cf,CollisionList* cList, F32 tol)
{
// Our vertices vs. other faces
const Point3F* vert = mVertexList.begin();
const Point3F* vend = mVertexList.end();
while (vert != vend) {
cf.testVertex(*vert,cList,false, tol);
vert++;
}
// Other vertices vs. our faces
vert = cf.mVertexList.begin();
vend = cf.mVertexList.end();
while (vert != vend) {
U32 storeCount = cList->getCount();
testVertex(*vert,cList,true, tol);
// Fix up last reference. material and object are copied from this rather
// than the object we're colliding against.
if (storeCount != cList->getCount())
{
Collision &col = (*cList)[cList->getCount() - 1];
col.material = cf.material;
col.object = cf.object;
}
vert++;
}
// Edge vs. Edge
const Edge* edge = mEdgeList.begin();
const Edge* eend = mEdgeList.end();
while (edge != eend) {
cf.testEdge(this,mVertexList[edge->vertex[0]],
mVertexList[edge->vertex[1]],cList, tol);
edge++;
}
return true;
}
/////////////TESTNODE/////////////////////////////////////
// testNode: tests the QuadNodes for intersections.
//
SpatialMarkup
RangeConvex::testNode(uint64 id)
//uint64 id)
// const struct SpatialIndex::QuadNode *indexNode)
{
const SpatialVector *v0, *v1, *v2;
// const struct SpatialIndex::QuadNode &indexNode = index_->nodes_[id];
const struct SpatialIndex::QuadNode *indexNode = &index_->nodes_[id];
int m;
m = indexNode->v_[0];
v0 = &index_->vertices_[m]; // the vertex vector m
m = indexNode->v_[1];
v1 = &index_->vertices_[m];
m = indexNode->v_[2];
v2 = &index_->vertices_[m];
// testNode(V(NV(0)),V(NV(1)),V(NV(2)));
// #define NV(m) indexNode.v_[(m)] // the vertices of n
// #define NV(m) index_->nodes_[id].v_[(m)] // the vertices of n
// #define V(m) index_->vertices_[(m)] // the vertex vector m
// Start with testing the vertices for the QuadNode with this convex.
int vsum = testVertex(v0) + testVertex(v1) + testVertex(v2);
#ifdef DIAGNOSE
char name[10];
SpatialVector v = v0 + v1 + v2;
cout << index_->nameById(index_->idByPoint(v),name)
<< " " << vsum << " " << endl;
#endif
SpatialMarkup mark =
testTriangle( *v0, *v1, *v2, vsum);
#ifdef DIAGNOSE
cout << ( mark == pARTIAL ? " partial " :
( mark == fULL ? " full " :
( mark == rEJECT ? " reject " :
" dontknow " ) ) ) << name << endl;
/*
<< v0 << "," << v1 << "," << v2 << " " << endl;
<< V(NV(0)) << " , " << V(NV(1)) << " , " << V(NV(2)) << endl
<< " (" << V(NV(0)).ra() << "," << V(NV(0)).dec() << ")"
<< " (" << V(NV(1)).ra() << "," << V(NV(1)).dec() << ")"
<< " (" << V(NV(2)).ra() << "," << V(NV(2)).dec() << ")"
<< endl;
*/
#endif
// since we cannot play games using the on-the-fly triangles,
// substitute dontknow with partial.
if (mark == dONTKNOW)
mark = pARTIAL;
return mark;
}
