/*!
In each contact
<ul>
<li> m_handle1 points to trimesh.
<li> m_handle2 points to NULL.
<li> m_feature1 Is a triangle index of trimesh.
</ul>
\param trimesh
\param center
\param radius
\param contacts A GIM_CONTACT array. Must be initialized
*/
void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts)
{
contacts->m_size = 0;
aabb3f test_aabb;
test_aabb.minX = center[0]-radius;
test_aabb.maxX = center[0]+radius;
test_aabb.minY = center[1]-radius;
test_aabb.maxY = center[1]+radius;
test_aabb.minZ = center[2]-radius;
test_aabb.maxZ = center[2]+radius;
GDYNAMIC_ARRAY collision_result;
GIM_CREATE_BOXQUERY_LIST(collision_result);
gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);
if(collision_result.m_size==0)
{
GIM_DYNARRAY_DESTROY(collision_result);
}
//collide triangles
//Locks trimesh
gim_trimesh_locks_work_data(trimesh);
//dummy contacts
GDYNAMIC_ARRAY dummycontacts;
GIM_CREATE_CONTACT_LIST(dummycontacts);
int cresult;
unsigned int i;
GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
GIM_TRIANGLE_CONTACT_DATA tri_contact_data;
GIM_TRIANGLE_DATA tri_data;
for(i=0;i<collision_result.m_size;i++)
{
gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);
cresult = gim_triangle_sphere_collision(&tri_data,center,radius,&tri_contact_data);
if(cresult!=0)
{
GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[0],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh, 0, boxesresult[i],0);
}
}
///unlocks
gim_trimesh_unlocks_work_data(trimesh);
///Destroy box result
GIM_DYNARRAY_DESTROY(collision_result);
//merge contacts
gim_merge_contacts(&dummycontacts,contacts);
//Destroy dummy
GIM_DYNARRAY_DESTROY(dummycontacts);
}
/*!
In each contact
<ul>
<li> m_handle1 points to trimesh1.
<li> m_handle2 points to trimesh2.
<li> m_feature1 Is a triangle index of trimesh1.
<li> m_feature2 Is a triangle index of trimesh2.
</ul>
\param trimesh1 Collider
\param trimesh2 Collidee
\param contacts A GIM_CONTACT array. Must be initialized
*/
void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts)
{
contacts->m_size = 0;
GDYNAMIC_ARRAY collision_pairs;
GIM_CREATE_PAIR_SET(collision_pairs)
gim_aabbset_bipartite_intersections(&trimesh1->m_aabbset,&trimesh2->m_aabbset,&collision_pairs);
if(collision_pairs.m_size==0)
{
GIM_DYNARRAY_DESTROY(collision_pairs);
return; //no collisioin
}
//Locks meshes
gim_trimesh_locks_work_data(trimesh1);
gim_trimesh_locks_work_data(trimesh2);
//pair pointer
GIM_PAIR *pairs = GIM_DYNARRAY_POINTER(GIM_PAIR,collision_pairs);
//dummy contacts
GDYNAMIC_ARRAY dummycontacts;
GIM_CREATE_CONTACT_LIST(dummycontacts);
//Auxiliary triangle data
GIM_TRIANGLE_CONTACT_DATA tri_contact_data;
GIM_TRIANGLE_DATA tri1data,tri2data;
GUINT32 i, ti1,ti2,ci;
int colresult;
for (i=0; i<collision_pairs.m_size; i++)
{
ti1 = pairs[i].m_index1;
ti2 = pairs[i].m_index2;
//Get triangles data
gim_trimesh_get_triangle_data(trimesh1,ti1,&tri1data);
gim_trimesh_get_triangle_data(trimesh2,ti2,&tri2data);
//collide triangles
colresult = gim_triangle_triangle_collision(&tri1data,&tri2data,&tri_contact_data);
if(colresult == 1)
{
//Add contacts
for (ci=0; ci<tri_contact_data.m_point_count ; ci++ )
{
GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[ci],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh1, trimesh2, ti1, ti2);
}
}
}
if(dummycontacts.m_size == 0) //reject
{
GIM_DYNARRAY_DESTROY(dummycontacts);
GIM_DYNARRAY_DESTROY(collision_pairs);
return;
}
//merge contacts
gim_merge_contacts(&dummycontacts,contacts);
//Terminate
GIM_DYNARRAY_DESTROY(dummycontacts);
GIM_DYNARRAY_DESTROY(collision_pairs);
//Unlocks meshes
gim_trimesh_unlocks_work_data(trimesh1);
gim_trimesh_unlocks_work_data(trimesh2);
}
/*!
Find the closest primitive collided by the ray
\param trimesh
\param capsule
\param contact
\param contacts A GIM_CONTACT array. Must be initialized
*/
void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts)
{
contacts->m_size = 0;
aabb3f test_aabb;
CALC_CAPSULE_AABB((*capsule),test_aabb);
GDYNAMIC_ARRAY collision_result;
GIM_CREATE_BOXQUERY_LIST(collision_result);
gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);
if(collision_result.m_size==0)
{
GIM_DYNARRAY_DESTROY(collision_result);
}
//collide triangles
//Locks trimesh
gim_trimesh_locks_work_data(trimesh);
//dummy contacts
GDYNAMIC_ARRAY dummycontacts;
GIM_CREATE_CONTACT_LIST(dummycontacts);
int cresult;
unsigned int i;
GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);
GIM_TRIANGLE_DATA tri_data;
GUINT old_contact_size;
GIM_CONTACT * pcontact;
for(i=0;i<collision_result.m_size;i++)
{
old_contact_size = dummycontacts.m_size;
gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);
cresult = gim_triangle_capsule_collision(&tri_data, capsule, &dummycontacts);
if(cresult!=0)
{
pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,dummycontacts);
pcontact+= old_contact_size;
while(old_contact_size<dummycontacts.m_size)
{
pcontact->m_handle1 = trimesh;
pcontact->m_handle2 = capsule;
pcontact->m_feature1 = boxesresult[i];
pcontact->m_feature2 = 0;
pcontact++;
old_contact_size++;
}
}
}
///unlocks
gim_trimesh_unlocks_work_data(trimesh);
///Destroy box result
GIM_DYNARRAY_DESTROY(collision_result);
//merge contacts
gim_merge_contacts(&dummycontacts,contacts);
//Destroy dummy
GIM_DYNARRAY_DESTROY(dummycontacts);
}
