/*
** All the three given vectors span only a 2D space, and this finds
** the normal to that plane. Simply sums up all the pair-wise
** cross-products to get a good estimate. Trick is getting the cross
** products to line up before summing.
*/
void
nullspace1(double ret[3],
const double r0[3], const double r1[3], const double r2[3]) {
double crs[3];
/* ret = r0 x r1 */
VEC_CROSS(ret, r0, r1);
/* crs = r1 x r2 */
VEC_CROSS(crs, r1, r2);
/* ret += crs or ret -= crs; whichever makes ret longer */
if (VEC_DOT(ret, crs) > 0) {
VEC_ADD(ret, crs);
} else {
VEC_SUB(ret, crs);
}
/* crs = r0 x r2 */
VEC_CROSS(crs, r0, r2);
/* ret += crs or ret -= crs; whichever makes ret longer */
if (VEC_DOT(ret, crs) > 0) {
VEC_ADD(ret, crs);
} else {
VEC_SUB(ret, crs);
}
return;
}
BOOL IsPolyInsideSurface(CTempSurface *pSurface, CPrePoly *pPoly)
{
DWORD i, j;
CEditPoly *pEditPoly;
CPrePlane edgePlane;
PVector vTemp, testPt;
pEditPoly = pSurface->m_pPoly;
for(i=0; i < pEditPoly->NumVerts(); i++)
{
VEC_SUB(vTemp, pEditPoly->NextPt(i), pEditPoly->Pt(i));
VEC_CROSS(edgePlane.m_Normal, vTemp, pEditPoly->Normal());
edgePlane.m_Normal.Norm();
edgePlane.m_Dist = VEC_DOT(edgePlane.m_Normal, pEditPoly->Pt(i));
for(j=0; j < pPoly->NumVerts(); j++)
{
testPt = pPoly->Pt(j);
if(DIST_TO_PLANE(testPt, edgePlane) < -0.1f)
{
return FALSE;
}
}
}
return TRUE;
}
inline bool d3d_ClipSprite(SpriteInstance *pInstance, HPOLY hPoly,
T **ppPoints, uint32 *pnPoints, T *pOut)
{
LTPlane thePlane;
float dot, d1, d2;
SPolyVertex *pPrevPoint, *pCurPoint, *pEndPoint;
LTVector vecTo;
T *pVerts;
uint32 nVerts;
WorldPoly *pPoly;
if(g_have_world == false)
return false;
// Get the correct poly.
pPoly = world_bsp_client->GetPolyFromHPoly(hPoly);
if(!pPoly)
return false;
// First see if the viewer is on the frontside of the poly.
dot = pPoly->GetPlane()->DistTo(g_ViewParams.m_Pos);
if(dot <= 0.01f)
return false;
pVerts = *ppPoints;
nVerts = *pnPoints;
// Clip on each edge plane.
pEndPoint = &pPoly->GetVertices()[pPoly->GetNumVertices()];
pPrevPoint = pEndPoint - 1;
for(pCurPoint=pPoly->GetVertices(); pCurPoint != pEndPoint; )
{
VEC_SUB(vecTo, pCurPoint->m_Vertex->m_Vec, pPrevPoint->m_Vertex->m_Vec);
VEC_CROSS(thePlane.m_Normal, vecTo, pPoly->GetPlane()->m_Normal);
VEC_NORM(thePlane.m_Normal);
thePlane.m_Dist = VEC_DOT(thePlane.m_Normal, pCurPoint->m_Vertex->m_Vec);
#define CLIPTEST PLANETEST
#define DOCLIP DOPLANECLIP
#include "polyclip.h"
#undef CLIPTEST
#undef DOCLIP
pPrevPoint = pCurPoint;
++pCurPoint;
}
*ppPoints = pVerts;
*pnPoints = nVerts;
return true;
}
/*****************************************
* Read nappe characterization in a file *
*****************************************/
GEO *
file_geo_nappe (BYTE Type, FILE *File)
{
GEO_NAPPE *Geo;
PNT *Pnt, *PntA, *PntB, *PntC, *PntD;
FCT *Fct;
VECTOR U, V;
REAL Real;
INDEX Index;
INIT_MEM (Geo, 1, GEO_NAPPE);
Geo->Type = Type;
GET_INDEX (Geo->NbrPnt);
INIT_MEM (Geo->TabPnt, Geo->NbrPnt, PNT);
GET_INDEX (Geo->NbrFct);
INIT_MEM (Geo->TabFct, Geo->NbrFct, FCT);
Geo->Min.x = Geo->Min.y = Geo->Min.z = INFINITY;
Geo->Max.x = Geo->Max.y = Geo->Max.z = -INFINITY;
for (Index = 0, Pnt = Geo->TabPnt; Index < Geo->NbrPnt; Index++, Pnt++) {
GET_VECTOR (Pnt->Point);
VEC_MIN (Geo->Min, Pnt->Point);
VEC_MAX (Geo->Max, Pnt->Point);
}
for (Index = 0, Fct = Geo->TabFct; Index < Geo->NbrFct; Index++, Fct++) {
if (fscanf (File, " ( %d %d %d %d )", &Fct->i, &Fct->j, &Fct->k, &Fct->l) < 4)
return (FALSE);
Fct->NumFct = Index;
PntA = Geo->TabPnt + Fct->i;
PntB = Geo->TabPnt + Fct->j;
PntC = Geo->TabPnt + Fct->k;
PntD = Geo->TabPnt + Fct->l;
VEC_SUB (U, PntC->Point, PntA->Point);
VEC_SUB (V, PntD->Point, PntB->Point);
VEC_CROSS (Fct->Normal, U, V);
VEC_UNIT (Fct->Normal, Real);
VEC_INC (PntA->Normal, Fct->Normal);
VEC_INC (PntB->Normal, Fct->Normal);
VEC_INC (PntC->Normal, Fct->Normal);
VEC_INC (PntD->Normal, Fct->Normal);
}
for (Index = 0, Pnt = Geo->TabPnt; Index < Geo->NbrPnt; Index++, Pnt++)
VEC_UNIT (Pnt->Normal, Real);
return ((GEO *) Geo);
}
/*
** All vectors are in the same 1D space, we have to find two
** mutually vectors perpendicular to that span
*/
void
nullspace2(double reta[3], double retb[3],
const double r0[3], const double r1[3], const double r2[3]) {
double sqr[3], sum[3];
int idx;
VEC_COPY(sum, r0);
if (VEC_DOT(sum, r1) > 0) {
VEC_ADD(sum, r1);
} else {
VEC_SUB(sum, r1);
}
if (VEC_DOT(sum, r2) > 0) {
VEC_ADD(sum, r2);
} else {
VEC_SUB(sum, r2);
}
/* find largest component, to get most stable expression for a
perpendicular vector */
sqr[0] = sum[0]*sum[0];
sqr[1] = sum[1]*sum[1];
sqr[2] = sum[2]*sum[2];
idx = 0;
if (sqr[0] < sqr[1])
idx = 1;
if (sqr[idx] < sqr[2])
idx = 2;
/* reta will be perpendicular to sum */
if (0 == idx) {
VEC_SET(reta, sum[1] - sum[2], -sum[0], sum[0]);
} else if (1 == idx) {
VEC_SET(reta, -sum[1], sum[0] - sum[2], sum[1]);
} else {
VEC_SET(reta, -sum[2], sum[2], sum[0] - sum[1]);
}
/* and now retb will be perpendicular to both reta and sum */
VEC_CROSS(retb, reta, sum);
return;
}
int
evals_evecs(double eval[3], double evec[9],
const double _M00, const double _M01, const double _M02,
const double _M11, const double _M12,
const double _M22) {
double r0[3], r1[3], r2[3], crs[3], len, dot;
double mean, norm, rnorm, Q, R, QQQ, D, theta,
M00, M01, M02, M11, M12, M22;
double epsilon = 1.0E-12;
int roots;
/* copy the given matrix elements */
M00 = _M00;
M01 = _M01;
M02 = _M02;
M11 = _M11;
M12 = _M12;
M22 = _M22;
/*
** subtract out the eigenvalue mean (will add back to evals later);
** helps with numerical stability
*/
mean = (M00 + M11 + M22)/3.0;
M00 -= mean;
M11 -= mean;
M22 -= mean;
/*
** divide out L2 norm of eigenvalues (will multiply back later);
** this too seems to help with stability
*/
norm = sqrt(M00*M00 + 2*M01*M01 + 2*M02*M02 +
M11*M11 + 2*M12*M12 +
M22*M22);
rnorm = norm ? 1.0/norm : 1.0;
M00 *= rnorm;
M01 *= rnorm;
M02 *= rnorm;
M11 *= rnorm;
M12 *= rnorm;
M22 *= rnorm;
/* this code is a mix of prior Teem code and ideas from Eberly's
"Eigensystems for 3 x 3 Symmetric Matrices (Revisited)" */
Q = (M01*M01 + M02*M02 + M12*M12 - M00*M11 - M00*M22 - M11*M22)/3.0;
QQQ = Q*Q*Q;
R = (M00*M11*M22 + M02*(2*M01*M12 - M02*M11)
- M00*M12*M12 - M01*M01*M22)/2.0;
D = QQQ - R*R;
if (D > epsilon) {
/* three distinct roots- this is the most common case */
double mm, ss, cc;
theta = atan2(sqrt(D), R)/3.0;
mm = sqrt(Q);
ss = sin(theta);
cc = cos(theta);
eval[0] = 2*mm*cc;
eval[1] = mm*(-cc + sqrt(3.0)*ss);
eval[2] = mm*(-cc - sqrt(3.0)*ss);
roots = ROOT_THREE;
/* else D is near enough to zero */
} else if (R < -epsilon || epsilon < R) {
double U;
/* one double root and one single root */
U = airCbrt(R); /* cube root function */
if (U > 0) {
eval[0] = 2*U;
eval[1] = -U;
eval[2] = -U;
} else {
eval[0] = -U;
eval[1] = -U;
eval[2] = 2*U;
}
roots = ROOT_SINGLE_DOUBLE;
} else {
/* a triple root! */
eval[0] = eval[1] = eval[2] = 0.0;
roots = ROOT_TRIPLE;
}
/* r0, r1, r2 are the vectors we manipulate to
find the nullspaces of M - lambda*I */
VEC_SET(r0, 0.0, M01, M02);
VEC_SET(r1, M01, 0.0, M12);
VEC_SET(r2, M02, M12, 0.0);
if (ROOT_THREE == roots) {
r0[0] = M00 - eval[0]; r1[1] = M11 - eval[0]; r2[2] = M22 - eval[0];
nullspace1(evec+0, r0, r1, r2);
r0[0] = M00 - eval[1]; r1[1] = M11 - eval[1]; r2[2] = M22 - eval[1];
nullspace1(evec+3, r0, r1, r2);
r0[0] = M00 - eval[2]; r1[1] = M11 - eval[2]; r2[2] = M22 - eval[2];
nullspace1(evec+6, r0, r1, r2);
} else if (ROOT_SINGLE_DOUBLE == roots) {
if (eval[1] == eval[2]) {
/* one big (eval[0]) , two small (eval[1,2]) */
r0[0] = M00 - eval[0]; r1[1] = M11 - eval[0]; r2[2] = M22 - eval[0];
nullspace1(evec+0, r0, r1, r2);
r0[0] = M00 - eval[1]; r1[1] = M11 - eval[1]; r2[2] = M22 - eval[1];
nullspace2(evec+3, evec+6, r0, r1, r2);
}
else {
/* two big (eval[0,1]), one small (eval[2]) */
r0[0] = M00 - eval[0]; r1[1] = M11 - eval[0]; r2[2] = M22 - eval[0];
nullspace2(evec+0, evec+3, r0, r1, r2);
r0[0] = M00 - eval[2]; r1[1] = M11 - eval[2]; r2[2] = M22 - eval[2];
nullspace1(evec+6, r0, r1, r2);
}
} else {
/* ROOT_TRIPLE == roots; use any basis for eigenvectors */
VEC_SET(evec+0, 1, 0, 0);
VEC_SET(evec+3, 0, 1, 0);
VEC_SET(evec+6, 0, 0, 1);
}
/* we always make sure its really orthonormal; keeping fixed the
eigenvector associated with the largest-magnitude eigenvalue */
if (ABS(eval[0]) > ABS(eval[2])) {
/* normalize evec+0 but don't move it */
VEC_NORM(evec+0, len);
dot = VEC_DOT(evec+0, evec+3); VEC_SCL_SUB(evec+3, dot, evec+0);
VEC_NORM(evec+3, len);
dot = VEC_DOT(evec+0, evec+6); VEC_SCL_SUB(evec+6, dot, evec+0);
dot = VEC_DOT(evec+3, evec+6); VEC_SCL_SUB(evec+6, dot, evec+3);
VEC_NORM(evec+6, len);
} else {
/* normalize evec+6 but don't move it */
VEC_NORM(evec+6, len);
dot = VEC_DOT(evec+6, evec+3); VEC_SCL_SUB(evec+3, dot, evec+6);
VEC_NORM(evec+3, len);
dot = VEC_DOT(evec+3, evec+0); VEC_SCL_SUB(evec+0, dot, evec+3);
dot = VEC_DOT(evec+6, evec+0); VEC_SCL_SUB(evec+0, dot, evec+6);
VEC_NORM(evec+0, len);
}
/* to be nice, make it right-handed */
VEC_CROSS(crs, evec+0, evec+3);
if (0 > VEC_DOT(crs, evec+6)) {
VEC_SCL(evec+6, -1);
}
/* multiply back by eigenvalue L2 norm */
eval[0] /= rnorm;
eval[1] /= rnorm;
eval[2] /= rnorm;
/* add back in the eigenvalue mean */
eval[0] += mean;
eval[1] += mean;
eval[2] += mean;
return roots;
}
void SoccerBall::Update( )
{
DVector vVel, vAccel, vAccelAdd, vPos, vForward, vCross, vTemp, vTemp2;
CollisionInfo collInfo;
float fVelMag, fDistTraveled, fTime, fRotAmount, fExp;
DRotation rRot;
g_pServerDE->GetObjectPos( m_hObject, &vPos );
g_pServerDE->GetVelocity( m_hObject, &vVel );
fVelMag = VEC_MAG( vVel );
fTime = g_pServerDE->GetTime( );
// Remove the ball if it's been sitting around for a while.
if( fTime > m_fRespawnTime )
{
g_pServerDE->RemoveObject( m_hObject );
return;
}
// Update the on ground info
g_pServerDE->GetStandingOn( m_hObject, &collInfo );
m_bOnGround = ( collInfo.m_hObject ) ? DTRUE : DFALSE;
if( m_bOnGround )
{
m_fLastTimeOnGround = fTime;
}
// Get how far we've traveled.
VEC_SUB( vForward, vPos, m_vLastPos );
fDistTraveled = VEC_MAG( vForward );
VEC_COPY( m_vLastPos, vPos );
// Rotate the ball
if( fDistTraveled > 0.0f )
{
VEC_MULSCALAR( vForward, vForward, 1.0f / fDistTraveled );
if( m_bOnGround )
{
VEC_COPY( m_vLastNormal, collInfo.m_Plane.m_Normal );
VEC_CROSS( vCross, vForward, m_vLastNormal );
fRotAmount = VEC_MAG( vCross ) * fDistTraveled / m_fRadius;
}
else
{
VEC_CROSS( vCross, vForward, m_vLastNormal );
fRotAmount = VEC_MAG( vCross ) * fDistTraveled / m_fRadius;
}
if( fRotAmount > 0.0f )
{
VEC_NORM( vCross );
g_pServerDE->GetObjectRotation( m_hObject, &rRot );
g_pServerDE->RotateAroundAxis( &rRot, &vCross, fRotAmount );
g_pServerDE->SetObjectRotation( m_hObject, &rRot );
}
}
// Adjust the velocity and accel
if( fVelMag < MINBALLVEL )
{
VEC_INIT( vVel );
g_pServerDE->SetVelocity( m_hObject, &vVel );
}
else if( fVelMag > MAXBALLVEL )
{
VEC_MULSCALAR( vVel, vVel, MAXBALLVEL / fVelMag );
g_pServerDE->SetVelocity( m_hObject, &vVel );
}
else
{
// new velocity is given by: v = ( a / k ) + ( v_0 - a / k ) * exp( -k * t )
g_pServerDE->GetAcceleration( m_hObject, &vAccel );
fExp = ( float )exp( -BALLDRAG * g_pServerDE->GetFrameTime( ));
VEC_DIVSCALAR( vTemp, vAccel, BALLDRAG );
VEC_SUB( vTemp2, vVel, vTemp );
VEC_MULSCALAR( vTemp2, vTemp2, fExp );
VEC_ADD( vVel, vTemp2, vTemp );
g_pServerDE->SetVelocity( m_hObject, &vVel );
}
// Make sure we're rolling if we're on a slope. This counteracts the way the
// engine stops objects on slopes.
if( m_bOnGround )
{
if( collInfo.m_Plane.m_Normal.y < 0.9f && fabs( vVel.y ) < 50.0f )
{
g_pServerDE->GetGlobalForce( &vAccelAdd );
vAccel.y += vAccelAdd.y * 0.5f;
g_pServerDE->SetAcceleration( m_hObject, &vAccel );
}
}
// Play a bounce sound if enough time has elapsed
if( m_bBounced )
{
if( fTime > m_fLastBounceTime + TIMEBETWEENBOUNCESOUNDS )
{
// Play a bounce sound...
PlaySoundFromPos( &vPos, "Sounds_ao\\events\\soccerball.wav", 750, SOUNDPRIORITY_MISC_MEDIUM );
}
m_bBounced = DFALSE;
}
g_pServerDE->SetNextUpdate( m_hObject, 0.001f );
}
int gim_triangle_triangle_overlap(
GIM_TRIANGLE_DATA *tri1,
GIM_TRIANGLE_DATA *tri2)
{
vec3f _distances;
char out_of_face;
CLASSIFY_TRIPOINTS_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);
if(out_of_face==1) return 0;
CLASSIFY_TRIPOINTS_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);
if(out_of_face==1) return 0;
float du0=0,du1=0,du2=0,dv0=0,dv1=0,dv2=0;
float D[3];
float isect1[2], isect2[2];
float du0du1=0,du0du2=0,dv0dv1=0,dv0dv2=0;
short index;
float vp0,vp1,vp2;
float up0,up1,up2;
float bb,cc,max;
/* compute direction of intersection line */
VEC_CROSS(D,tri1->m_planes.m_planes[0],tri2->m_planes.m_planes[0]);
/* compute and index to the largest component of D */
max=(float)FABS(D[0]);
index=0;
bb=(float)FABS(D[1]);
cc=(float)FABS(D[2]);
if(bb>max) max=bb,index=1;
if(cc>max) max=cc,index=2;
/* this is the simplified projection onto L*/
vp0= tri1->m_vertices[0][index];
vp1= tri1->m_vertices[1][index];
vp2= tri1->m_vertices[2][index];
up0= tri2->m_vertices[0][index];
up1= tri2->m_vertices[1][index];
up2= tri2->m_vertices[2][index];
/* compute interval for triangle 1 */
float a,b,c,x0,x1;
NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1);
/* compute interval for triangle 2 */
float d,e,f,y0,y1;
NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1);
float xx,yy,xxyy,tmp;
xx=x0*x1;
yy=y0*y1;
xxyy=xx*yy;
tmp=a*xxyy;
isect1[0]=tmp+b*x1*yy;
isect1[1]=tmp+c*x0*yy;
tmp=d*xxyy;
isect2[0]=tmp+e*xx*y1;
isect2[1]=tmp+f*xx*y0;
SORT(isect1[0],isect1[1]);
SORT(isect2[0],isect2[1]);
if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;
return 1;
}
