void PhysicsPlaneGeom::changed(ConstFieldMaskArg whichField,
UInt32 origin,
BitVector details)
{
Inherited::changed(whichField, origin, details);
if(whichField & ParametersFieldMask)
{
dGeomPlaneSetParams(_GeomID, getParameters().x(), getParameters().y(), getParameters().z(), getParameters().w());
}
}
IoObject *IoODEPlane_setParams(IoODEPlane *self, IoObject *locals, IoMessage *m)
{
dReal a = IoMessage_locals_doubleArgAt_(m, locals, 0);
dReal b = IoMessage_locals_doubleArgAt_(m, locals, 1);
dReal c = IoMessage_locals_doubleArgAt_(m, locals, 2);
dReal d = IoMessage_locals_doubleArgAt_(m, locals, 3);
IoODEPlane_assertHasPlaneId(self, locals, m);
dGeomPlaneSetParams(GEOMID, a, b, c, d);
return self;
}
//==============================================================================
void OdePlane::updateEngineData()
{
const Eigen::Isometry3d& tf = mParentCollisionObject->getTransform();
const Eigen::Vector3d pos = tf.translation();
const Eigen::Matrix3d rot = tf.linear();
auto plane = static_cast<const dynamics::PlaneShape*>(
mParentCollisionObject->getShape().get());
const Eigen::Vector3d& normal = plane->getNormal();
const double offset = plane->getOffset();
const Eigen::Vector3d& normal2 = rot*normal;
const double offset2 = offset + pos.dot(normal2);
dGeomPlaneSetParams(mGeomId, normal2.x(), normal2.y(), normal2.z(), offset2);
}
int test_plane_point_depth()
{
int j;
dVector3 n,p,q,a,b; // n = plane normal
dReal d;
dSimpleSpace space(0);
dGeomID plane = dCreatePlane (0,0,0,1,0);
dSpaceAdd (space,plane);
// ********** make a random plane
for (j=0; j<3; j++) n[j] = dRandReal() - 0.5;
dNormalize3 (n);
d = dRandReal() - 0.5;
dGeomPlaneSetParams (plane,n[0],n[1],n[2],d);
dPlaneSpace (n,p,q);
// ********** test point on plane has depth 0
a[0] = dRandReal() - 0.5;
a[1] = dRandReal() - 0.5;
a[2] = 0;
for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2])) >= tol) FAILED();
// ********** test arbitrary depth point
a[0] = dRandReal() - 0.5;
a[1] = dRandReal() - 0.5;
a[2] = dRandReal() - 0.5;
for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) + a[2]) >= tol)
FAILED();
// ********** test depth-1 point
a[0] = dRandReal() - 0.5;
a[1] = dRandReal() - 0.5;
a[2] = -1;
for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) - 1) >= tol) FAILED();
PASSED();
}
void PhysicsPlaneGeom::setParams(const Vec4f &value )
{
PhysicsPlaneGeomPtr tmpPtr(*this);
dGeomPlaneSetParams(tmpPtr->id, value.x(), value.y(), value.z(), value.w());
PhysicsPlaneGeomBase::setParams(value);
}
int test_ray_and_plane()
{
int j;
dContactGeom contact;
dVector3 n,p,q,a,b,g,h; // n,d = plane parameters
dMatrix3 R;
dReal d;
dSimpleSpace space(0);
dGeomID ray = dCreateRay (0,0);
dGeomID plane = dCreatePlane (0,0,0,1,0);
dSpaceAdd (space,ray);
dSpaceAdd (space,plane);
// ********** make a random plane
for (j=0; j<3; j++) n[j] = dRandReal() - 0.5;
dNormalize3 (n);
d = dRandReal() - 0.5;
dGeomPlaneSetParams (plane,n[0],n[1],n[2],d);
dPlaneSpace (n,p,q);
// ********** test finite length ray below plane
dGeomRaySetLength (ray,0.09);
a[0] = dRandReal()-0.5;
a[1] = dRandReal()-0.5;
a[2] = -dRandReal()*0.5 - 0.1;
for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
dGeomSetPosition (ray,b[0],b[1],b[2]);
dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
dRandReal()*2-1,dRandReal()*10-5);
dGeomSetRotation (ray,R);
if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test finite length ray above plane
a[0] = dRandReal()-0.5;
a[1] = dRandReal()-0.5;
a[2] = dRandReal()*0.5 + 0.01;
for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
g[0] = dRandReal()-0.5;
g[1] = dRandReal()-0.5;
g[2] = dRandReal() + 0.01;
for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j];
dNormalize3 (h);
dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]);
dGeomRaySetLength (ray,10);
if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test finite length ray that intersects plane
a[0] = dRandReal()-0.5;
a[1] = dRandReal()-0.5;
a[2] = dRandReal()-0.5;
for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
g[0] = dRandReal()-0.5;
g[1] = dRandReal()-0.5;
g[2] = dRandReal()-0.5;
for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j];
dNormalize3 (h);
dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]);
dGeomRaySetLength (ray,10);
if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom))) {
// test that contact is on plane surface
if (dFabs (dCalcVectorDot3(contact.pos,n) - d) > tol) FAILED();
// also check normal signs
if (dCalcVectorDot3 (h,contact.normal) > 0) FAILED();
// also check contact point depth
if (dFabs (dGeomPlanePointDepth
(plane,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
FAILED();
draw_all_objects (space);
}
// ********** test ray that just misses
for (j=0; j<3; j++) b[j] = (1+d)*n[j];
for (j=0; j<3; j++) h[j] = -n[j];
dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]);
dGeomRaySetLength (ray,0.99);
if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
// ********** test ray that just hits
dGeomRaySetLength (ray,1.01);
if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
// ********** test polarity with typical ground plane
dGeomPlaneSetParams (plane,0,0,1,0);
for (j=0; j<3; j++) a[j] = 0.1;
for (j=0; j<3; j++) b[j] = 0;
a[2] = 1;
b[2] = -1;
dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
dGeomRaySetLength (ray,2);
if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
if (dFabs (contact.depth - 1) > tol) FAILED();
a[2] = -1;
b[2] = 1;
dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
if (dFabs (contact.depth - 1) > tol) FAILED();
PASSED();
}
