void OBBMeshQuery::PerformTest()
{
RenderTerrain();
Matrix3x3 MX,MY,MZ;
RotX(MX, mAngleX);
RotY(MY, mAngleY);
RotY(MZ, mAngleZ);
mBox.mRot = MX * MY * MZ;
DrawOBB(mBox);
const Model* TM = GetTerrainModel();
if(TM)
{
OBBCollider Collider;
mSettings.SetupCollider(Collider);
mProfiler.Start();
bool Status = Collider.Collide(mCache, mBox, *TM, null, null);
mProfiler.End();
mProfiler.Accum();
if(Status)
{
if(Collider.GetContactStatus())
{
udword NbTris = Collider.GetNbTouchedPrimitives();
const udword* Indices = Collider.GetTouchedPrimitives();
RenderTerrainTriangles(NbTris, Indices);
}
}
}
// Raycast hit
if(mValidHit)
{
Point wp = mLocalHit + mBox.mCenter;
DrawLine(wp, wp + Point(1.0f, 0.0f, 0.0f), Point(1,0,0), 1.0f);
DrawLine(wp, wp + Point(0.0f, 1.0f, 0.0f), Point(0,1,0), 1.0f);
DrawLine(wp, wp + Point(0.0f, 0.0f, 1.0f), Point(0,0,1), 1.0f);
}
char Buffer[4096];
sprintf(Buffer, "OBB-mesh query = %5.1f us (%d cycles)\n", mProfiler.mMsTime, mProfiler.mCycles);
GLFontRenderer::print(10.0f, 10.0f, 0.02f, Buffer);
}
static void dQueryCCTLPotentialCollisionTriangles(OBBCollider &Collider,
const sTrimeshCapsuleColliderData &cData, dxTriMesh *TriMesh, dxGeom *Capsule,
OBBCache &BoxCache)
{
// It is a potential issue to explicitly cast to float
// if custom width floating point type is introduced in OPCODE.
// It is necessary to make a typedef and cast to it
// (e.g. typedef float opc_float;)
// However I'm not sure in what header it should be added.
const dVector3 &vCapsulePosition = cData.m_vCapsulePosition;
Point cCenter(/*(float)*/ vCapsulePosition[0], /*(float)*/ vCapsulePosition[1], /*(float)*/ vCapsulePosition[2]);
Point cExtents(/*(float)*/ cData.m_vCapsuleRadius, /*(float)*/ cData.m_vCapsuleRadius,/*(float)*/ cData.m_fCapsuleSize/2);
Matrix3x3 obbRot;
const dMatrix3 &mCapsuleRotation = cData.m_mCapsuleRotation;
obbRot[0][0] = /*(float)*/ mCapsuleRotation[0];
obbRot[1][0] = /*(float)*/ mCapsuleRotation[1];
obbRot[2][0] = /*(float)*/ mCapsuleRotation[2];
obbRot[0][1] = /*(float)*/ mCapsuleRotation[4];
obbRot[1][1] = /*(float)*/ mCapsuleRotation[5];
obbRot[2][1] = /*(float)*/ mCapsuleRotation[6];
obbRot[0][2] = /*(float)*/ mCapsuleRotation[8];
obbRot[1][2] = /*(float)*/ mCapsuleRotation[9];
obbRot[2][2] = /*(float)*/ mCapsuleRotation[10];
OBB obbCapsule(cCenter,cExtents,obbRot);
Matrix4x4 CapsuleMatrix;
MakeMatrix(vCapsulePosition, mCapsuleRotation, CapsuleMatrix);
Matrix4x4 MeshMatrix;
MakeMatrix(cData.m_mTriMeshPos, cData.m_mTriMeshRot, MeshMatrix);
// TC results
if (TriMesh->doBoxTC) {
dxTriMesh::BoxTC* BoxTC = 0;
for (int i = 0; i < TriMesh->BoxTCCache.size(); i++){
if (TriMesh->BoxTCCache[i].Geom == Capsule){
BoxTC = &TriMesh->BoxTCCache[i];
break;
}
}
if (!BoxTC){
TriMesh->BoxTCCache.push(dxTriMesh::BoxTC());
BoxTC = &TriMesh->BoxTCCache[TriMesh->BoxTCCache.size() - 1];
BoxTC->Geom = Capsule;
BoxTC->FatCoeff = 1.0f;
}
// Intersect
Collider.SetTemporalCoherence(true);
Collider.Collide(*BoxTC, obbCapsule, TriMesh->Data->BVTree, null, &MeshMatrix);
}
else {
Collider.SetTemporalCoherence(false);
Collider.Collide(BoxCache, obbCapsule, TriMesh->Data->BVTree, null,&MeshMatrix);
}
}