/*
================
idCollisionModelManagerLocal::RotateVertexThroughTrmPolygon
================
*/
void idCollisionModelManagerLocal::RotateVertexThroughTrmPolygon( cm_traceWork_t *tw, cm_trmPolygon_t *trmpoly, cm_polygon_t *poly, cm_vertex_t *v, idVec3 &rotationOrigin ) {
int i, edgeNum;
float tanHalfAngle;
idVec3 dir, endp, endDir, collisionPoint;
idPluecker pl;
cm_trmEdge_t *edge;
// if the polygon vertex is behind the trm plane it cannot collide with the trm polygon within a 180 degrees rotation
if( tw->isConvex && tw->axisIntersectsTrm && trmpoly->plane.Distance( v->p ) < 0.0f ) {
return;
}
// if the model vertex is outside the trm polygon rotation bounds
if( !trmpoly->rotationBounds.ContainsPoint( v->p ) ) {
return;
}
// if the rotation axis goes through the polygon vertex
dir = v->p - rotationOrigin;
if( dir * dir < ROTATION_AXIS_EPSILON * ROTATION_AXIS_EPSILON ) {
return;
}
// calculate vertex end position
endp = v->p;
tw->modelVertexRotation.RotatePoint( endp );
// rotate the vertex through the epsilon plane
if( !RotatePointThroughEpsilonPlane( tw, v->p, endp, trmpoly->plane, -tw->angle, rotationOrigin,
tanHalfAngle, collisionPoint, endDir ) ) {
return;
}
if( idMath::Fabs( tanHalfAngle ) < tw->maxTan ) {
// verify if 'collisionPoint' moving along 'endDir' moves between polygon edges
pl.FromRay( collisionPoint, endDir );
for( i = 0; i < trmpoly->numEdges; i++ ) {
edgeNum = trmpoly->edges[i];
edge = tw->edges + abs( edgeNum );
if( edgeNum < 0 ) {
if( pl.PermutedInnerProduct( edge->pl ) > 0.0f ) {
return;
}
} else {
if( pl.PermutedInnerProduct( edge->pl ) < 0.0f ) {
return;
}
}
}
tw->maxTan = idMath::Fabs( tanHalfAngle );
// collision plane is the flipped trm polygon plane
tw->trace.c.normal = -trmpoly->plane.Normal();
tw->trace.c.dist = tw->trace.c.normal * v->p;
tw->trace.c.contents = poly->contents;
tw->trace.c.material = poly->material;
tw->trace.c.type = CONTACT_MODELVERTEX;
tw->trace.c.modelFeature = v - tw->model->vertices;
tw->trace.c.trmFeature = trmpoly - tw->polys;
tw->trace.c.point = v->p;
}
}
/*
================
idCollisionModelManagerLocal::RotateTrmVertexThroughPolygon
================
*/
void idCollisionModelManagerLocal::RotateTrmVertexThroughPolygon( cm_traceWork_t *tw, cm_polygon_t *poly, cm_trmVertex_t *v, int vertexNum ) {
int i;
float tanHalfAngle;
idVec3 endDir, collisionPoint;
idPluecker pl;
// if the trm vertex is behind the polygon plane it cannot collide with the polygon within a 180 degrees rotation
if ( tw->isConvex && tw->axisIntersectsTrm && v->polygonSide ) {
return;
}
// if the trace model vertex rotation bounds do not intersect the polygon bounds
if ( !v->rotationBounds.IntersectsBounds( poly->bounds ) ) {
return;
}
// vertex rotation bounds should cross polygon plane
if ( v->rotationBounds.PlaneSide( poly->plane ) != SIDE_CROSS ) {
return;
}
// rotate the vertex through the epsilon plane
if ( !RotatePointThroughEpsilonPlane( tw, v->p, v->endp, poly->plane, tw->angle, v->rotationOrigin,
tanHalfAngle, collisionPoint, endDir ) ) {
return;
}
if ( idMath::Fabs( tanHalfAngle ) < tw->maxTan ) {
// verify if 'collisionPoint' moving along 'endDir' moves between polygon edges
pl.FromRay( collisionPoint, endDir );
for ( i = 0; i < poly->numEdges; i++ ) {
if ( poly->edges[i] < 0 ) {
if ( pl.PermutedInnerProduct( tw->polygonEdgePlueckerCache[i] ) > 0.0f ) {
return;
}
}
else {
if ( pl.PermutedInnerProduct( tw->polygonEdgePlueckerCache[i] ) < 0.0f ) {
return;
}
}
}
tw->maxTan = idMath::Fabs( tanHalfAngle );
// collision plane is the polygon plane
tw->trace.c.normal = poly->plane.Normal();
tw->trace.c.dist = poly->plane.Dist();
tw->trace.c.contents = poly->contents;
tw->trace.c.material = poly->material;
tw->trace.c.type = CONTACT_TRMVERTEX;
tw->trace.c.modelFeature = *reinterpret_cast<int *>(&poly);
tw->trace.c.trmFeature = v - tw->vertices;
tw->trace.c.point = collisionPoint;
}
}
