/*!
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);
}
/*!
\param triangle
\param s1
\param s2
\param contacts Contains the closest points on the segment (1,2), and the normal points to segment, and m_depth contains the distance
\post The contacts array is not set to 0. It adds aditional contacts
*/
void gim_closest_point_triangle_segment(GIM_TRIANGLE_DATA * triangle, vec3f s1,vec3f s2, GDYNAMIC_ARRAY * contacts)
{
vec3f segment_points[4];
vec3f closest_points[2];
GUINT intersection_type, out_edge= 10;
GREAL dis, dis_temp,perpend;
vec4f sdiff;
dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s1);
dis_temp = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s2);
if(dis<=0.0f && dis_temp<=0.0f) return;
VEC_DIFF(sdiff,s2,s1);
perpend = VEC_DOT(sdiff,triangle->m_planes.m_planes[0]);
if(!IS_ZERO(perpend)) // Not perpendicular
{
if(dis<dis_temp)
{
VEC_COPY(closest_points[0],s1);
}
else
{
dis = dis_temp;
VEC_COPY(closest_points[0],s2);
}
//Testing segment vertices over triangle
if(dis>=0.0f && dis_temp>=0.0f)
{
POINT_IN_HULL(closest_points[0],(&triangle->m_planes.m_planes[1]),3,out_edge);
if(out_edge==0)//Point over face
{
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
return;
}
}
else
{
PLANE_CLIP_SEGMENT(s1,s2,triangle->m_planes.m_planes[0],closest_points[1]);
POINT_IN_HULL(closest_points[1],(&triangle->m_planes.m_planes[1]),3,out_edge);
if(out_edge==0)//Point over face
{
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
return;
}
}
}
else // Perpendicular Face
{
//out_edge=10
//Clip segment by triangle
// Edge1
PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,triangle->m_planes.m_planes[1],segment_points[0],segment_points[1],intersection_type);
if(intersection_type==0||intersection_type==1)
{
out_edge = 0;
VEC_COPY(closest_points[0],segment_points[0]);
}
else
{
//Edge2
PLANE_CLIP_SEGMENT_CLOSEST(segment_points[0],segment_points[1],triangle->m_planes.m_planes[2],segment_points[2],segment_points[3],intersection_type);
if(intersection_type==0||intersection_type==1)
{
out_edge = 1;
VEC_COPY(closest_points[0],segment_points[3]);
}
else
{
//Edge3
PLANE_CLIP_SEGMENT_CLOSEST(segment_points[2],segment_points[3],triangle->m_planes.m_planes[3],closest_points[0],closest_points[1],intersection_type);
if(intersection_type==0||intersection_type==1)
{
out_edge = 2;
}
}
}
//POST closest_points[0] and closest_points[1] are inside the triangle, if out_edge>2
if(out_edge>2) // Over triangle
{
dis = VEC_DOT(closest_points[0],triangle->m_planes.m_planes[0]);
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
GIM_PUSH_CONTACT((*contacts),closest_points[1] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
return;
}
}
//Find closest edges
out_edge = 10;
dis = G_REAL_INFINITY;
GUINT i;
for(i=0;i<3;i++)
{
SEGMENT_COLLISION(s1,s2,triangle->m_vertices[i],triangle->m_vertices[(i+1)%3],segment_points[0],segment_points[1]);
VEC_DIFF(sdiff,segment_points[0],segment_points[1]);
dis_temp = VEC_DOT(sdiff,sdiff);
if(dis_temp< dis)
{
dis = dis_temp;
out_edge = i;
VEC_COPY(closest_points[0],segment_points[0]);
VEC_COPY(closest_points[1],sdiff);//normal
}
}
if(out_edge>2) return ;// ???? ASSERT this please
if(IS_ZERO(dis))
{
//Set face plane
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,0.0f,0, 0, 0,0);
}
else
{
GIM_SQRT(dis,dis);
VEC_SCALE(closest_points[1],(1.0f/dis),closest_points[1]);//normal
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,closest_points[1],dis,0, 0, 0,0);
}
}
