void CollisionVolume::Init(const float3& scales, const float3& offsets, int vType, int tType, int pAxis)
{
// assign these here, since we can be
// called from outside the constructor
primaryAxis = std::max(pAxis, 0) % COLVOL_NUM_AXES;
volumeType = std::max(vType, 0) % COLVOL_NUM_SHAPES;
testType = std::max(tType, 0) % COLVOL_NUM_HITTESTS;
// allow defining a custom volume without using it for coldet
disabled = (scales.x < 0.0f || scales.y < 0.0f || scales.z < 0.0f);
axisOffsets = offsets;
// make sure none of the scales are ever negative
// or zero; if the resulting vector is <1, 1, 1>,
// then the unit / feature loaders will override
// the (clone) scales with the model's radius
SetAxisScales(std::max(1.0f, scales.x), std::max(1.0f, scales.y), std::max(1.0f, scales.z));
if (volumeType == COLVOL_TYPE_ELLIPSOID) {
// if all axes (or half-axes) are equal in scale,
// volume is a sphere (a special-case ellipsoid)
if ((streflop::fabsf(axisHScales.x - axisHScales.y) < EPS) &&
(streflop::fabsf(axisHScales.y - axisHScales.z) < EPS)) {
logOutput.Print(LOG_COLVOL, "auto-converting spherical COLVOL_TYPE_ELLIPSOID to COLVOL_TYPE_SPHERE");
volumeType = COLVOL_TYPE_SPHERE;
}
}
// secondaryAxes[0] = (primaryAxis + 1) % COLVOL_NUM_AXES;
// secondaryAxes[1] = (primaryAxis + 2) % COLVOL_NUM_AXES;
switch (primaryAxis) {
case COLVOL_AXIS_X: {
secondaryAxes[0] = COLVOL_AXIS_Y;
secondaryAxes[1] = COLVOL_AXIS_Z;
}
break;
case COLVOL_AXIS_Y: {
secondaryAxes[0] = COLVOL_AXIS_X;
secondaryAxes[1] = COLVOL_AXIS_Z;
}
break;
case COLVOL_AXIS_Z: {
secondaryAxes[0] = COLVOL_AXIS_X;
secondaryAxes[1] = COLVOL_AXIS_Y;
}
break;
}
SetBoundingRadius();
}
void CollisionVolume::InitShape(
const float3& scales,
const float3& offsets,
const int vType,
const int tType,
const int pAxis)
{
float3 clampedScales;
// make sure none of the scales are ever negative or zero
//
// if the clamped vector is <1, 1, 1> (ie. all scales were <= 1.0f)
// then we assume a "default volume" is wanted and the unit/feature
// instances will be assigned spheres (of size model->radius)
clampedScales.x = std::max(1.0f, scales.x);
clampedScales.y = std::max(1.0f, scales.y);
clampedScales.z = std::max(1.0f, scales.z);
// assign these here, since we can be
// called from outside the constructor
volumeType = std::max(vType, 0) % (COLVOL_TYPE_SPHERE + 1);
volumeAxes[0] = std::max(pAxis, 0) % (COLVOL_AXIS_Z + 1);
axisOffsets = offsets;
useContHitTest = (tType == COLVOL_HITTEST_CONT);
switch (volumeAxes[0]) {
case COLVOL_AXIS_X: {
volumeAxes[1] = COLVOL_AXIS_Y;
volumeAxes[2] = COLVOL_AXIS_Z;
} break;
case COLVOL_AXIS_Y: {
volumeAxes[1] = COLVOL_AXIS_X;
volumeAxes[2] = COLVOL_AXIS_Z;
} break;
case COLVOL_AXIS_Z: {
volumeAxes[1] = COLVOL_AXIS_X;
volumeAxes[2] = COLVOL_AXIS_Y;
} break;
}
// NOTE:
// ellipses are now ALWAYS auto-converted to boxes or
// to spheres depending on scale values, cylinders to
// base cylinders (ie. with circular cross-section)
//
// we assume that if the volume-type is set to ellipse
// then its shape is largely anisotropic such that the
// conversion does not create too much of a difference
//
if (volumeType == COLVOL_TYPE_ELLIPSOID) {
const float dxyAbs = math::fabsf(clampedScales.x - clampedScales.y);
const float dyzAbs = math::fabsf(clampedScales.y - clampedScales.z);
const float d12Abs = math::fabsf(clampedScales[volumeAxes[1]] - clampedScales[volumeAxes[2]]);
if (dxyAbs < COLLISION_VOLUME_EPS && dyzAbs < COLLISION_VOLUME_EPS) {
volumeType = COLVOL_TYPE_SPHERE;
} else {
if (d12Abs < COLLISION_VOLUME_EPS) {
volumeType = COLVOL_TYPE_CYLINDER;
} else {
volumeType = COLVOL_TYPE_BOX;
}
}
}
if (volumeType == COLVOL_TYPE_CYLINDER) {
clampedScales[volumeAxes[1]] = std::max(clampedScales[volumeAxes[1]], clampedScales[volumeAxes[2]]);
clampedScales[volumeAxes[2]] = clampedScales[volumeAxes[1]];
}
SetAxisScales(clampedScales);
SetBoundingRadius();
}
