void _cldClipBoxToCylinder(sCylinderBoxData& cData )
{
dVector3 vCylinderCirclePos, vCylinderCircleNormal_Rel;
// check which circle from cylinder we take for clipping
if ( dVector3Dot(cData.vCylinderAxis, cData.vNormal) > REAL(0.0) )
{
// get top circle
vCylinderCirclePos[0] = cData.vCylinderPos[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
vCylinderCirclePos[1] = cData.vCylinderPos[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
vCylinderCirclePos[2] = cData.vCylinderPos[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
vCylinderCircleNormal_Rel[0] = REAL(0.0);
vCylinderCircleNormal_Rel[1] = REAL(0.0);
vCylinderCircleNormal_Rel[2] = REAL(0.0);
vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(-1.0);
}
else
{
// get bottom circle
vCylinderCirclePos[0] = cData.vCylinderPos[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
vCylinderCirclePos[1] = cData.vCylinderPos[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
vCylinderCirclePos[2] = cData.vCylinderPos[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
vCylinderCircleNormal_Rel[0] = REAL(0.0);
vCylinderCircleNormal_Rel[1] = REAL(0.0);
vCylinderCircleNormal_Rel[2] = REAL(0.0);
vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(1.0);
}
// vNr is normal in Box frame, pointing from Cylinder to Box
dVector3 vNr;
dMatrix3 mBoxInv;
// Find a way to use quaternion
dMatrix3Inv(cData.mBoxRot,mBoxInv);
dMultiplyMat3Vec3(mBoxInv,cData.vNormal,vNr);
dVector3 vAbsNormal;
vAbsNormal[0] = dFabs( vNr[0] );
vAbsNormal[1] = dFabs( vNr[1] );
vAbsNormal[2] = dFabs( vNr[2] );
// find which face in box is closest to cylinder
int iB0, iB1, iB2;
// Different from Croteam's code
if (vAbsNormal[1] > vAbsNormal[0])
{
// 1 > 0
if (vAbsNormal[0]> vAbsNormal[2])
{
// 0 > 2 -> 1 > 0 >2
iB0 = 1; iB1 = 0; iB2 = 2;
}
else
{
// 2 > 0-> Must compare 1 and 2
if (vAbsNormal[1] > vAbsNormal[2])
{
// 1 > 2 -> 1 > 2 > 0
iB0 = 1; iB1 = 2; iB2 = 0;
}
else
{
// 2 > 1 -> 2 > 1 > 0;
iB0 = 2; iB1 = 1; iB2 = 0;
}
}
}
else
{
// 0 > 1
if (vAbsNormal[1] > vAbsNormal[2])
{
// 1 > 2 -> 0 > 1 > 2
iB0 = 0; iB1 = 1; iB2 = 2;
}
else
{
// 2 > 1 -> Must compare 0 and 2
if (vAbsNormal[0] > vAbsNormal[2])
{
// 0 > 2 -> 0 > 2 > 1;
iB0 = 0; iB1 = 2; iB2 = 1;
}
else
{
// 2 > 0 -> 2 > 0 > 1;
iB0 = 2; iB1 = 0; iB2 = 1;
}
}
}
dVector3 vCenter;
// find center of box polygon
dVector3 vTemp;
if (vNr[iB0] > 0)
{
dMat3GetCol(cData.mBoxRot,iB0,vTemp);
vCenter[0] = cData.vBoxPos[0] - cData.vBoxHalfSize[iB0]*vTemp[0];
vCenter[1] = cData.vBoxPos[1] - cData.vBoxHalfSize[iB0]*vTemp[1];
vCenter[2] = cData.vBoxPos[2] - cData.vBoxHalfSize[iB0]*vTemp[2];
}
else
{
dMat3GetCol(cData.mBoxRot,iB0,vTemp);
vCenter[0] = cData.vBoxPos[0] + cData.vBoxHalfSize[iB0]*vTemp[0];
vCenter[1] = cData.vBoxPos[1] + cData.vBoxHalfSize[iB0]*vTemp[1];
vCenter[2] = cData.vBoxPos[2] + cData.vBoxHalfSize[iB0]*vTemp[2];
}
// find the vertices of box polygon
dVector3 avPoints[4];
dVector3 avTempArray1[MAX_CYLBOX_CLIP_POINTS];
dVector3 avTempArray2[MAX_CYLBOX_CLIP_POINTS];
int i=0;
for(i=0; i<MAX_CYLBOX_CLIP_POINTS; i++)
{
avTempArray1[i][0] = REAL(0.0);
avTempArray1[i][1] = REAL(0.0);
avTempArray1[i][2] = REAL(0.0);
avTempArray2[i][0] = REAL(0.0);
avTempArray2[i][1] = REAL(0.0);
avTempArray2[i][2] = REAL(0.0);
}
dVector3 vAxis1, vAxis2;
dMat3GetCol(cData.mBoxRot,iB1,vAxis1);
dMat3GetCol(cData.mBoxRot,iB2,vAxis2);
avPoints[0][0] = vCenter[0] + cData.vBoxHalfSize[iB1] * vAxis1[0] - cData.vBoxHalfSize[iB2] * vAxis2[0];
avPoints[0][1] = vCenter[1] + cData.vBoxHalfSize[iB1] * vAxis1[1] - cData.vBoxHalfSize[iB2] * vAxis2[1];
avPoints[0][2] = vCenter[2] + cData.vBoxHalfSize[iB1] * vAxis1[2] - cData.vBoxHalfSize[iB2] * vAxis2[2];
avPoints[1][0] = vCenter[0] - cData.vBoxHalfSize[iB1] * vAxis1[0] - cData.vBoxHalfSize[iB2] * vAxis2[0];
avPoints[1][1] = vCenter[1] - cData.vBoxHalfSize[iB1] * vAxis1[1] - cData.vBoxHalfSize[iB2] * vAxis2[1];
avPoints[1][2] = vCenter[2] - cData.vBoxHalfSize[iB1] * vAxis1[2] - cData.vBoxHalfSize[iB2] * vAxis2[2];
avPoints[2][0] = vCenter[0] - cData.vBoxHalfSize[iB1] * vAxis1[0] + cData.vBoxHalfSize[iB2] * vAxis2[0];
avPoints[2][1] = vCenter[1] - cData.vBoxHalfSize[iB1] * vAxis1[1] + cData.vBoxHalfSize[iB2] * vAxis2[1];
avPoints[2][2] = vCenter[2] - cData.vBoxHalfSize[iB1] * vAxis1[2] + cData.vBoxHalfSize[iB2] * vAxis2[2];
avPoints[3][0] = vCenter[0] + cData.vBoxHalfSize[iB1] * vAxis1[0] + cData.vBoxHalfSize[iB2] * vAxis2[0];
avPoints[3][1] = vCenter[1] + cData.vBoxHalfSize[iB1] * vAxis1[1] + cData.vBoxHalfSize[iB2] * vAxis2[1];
avPoints[3][2] = vCenter[2] + cData.vBoxHalfSize[iB1] * vAxis1[2] + cData.vBoxHalfSize[iB2] * vAxis2[2];
// transform box points to space of cylinder circle
dMatrix3 mCylinderInv;
dMatrix3Inv(cData.mCylinderRot,mCylinderInv);
for(i=0; i<4; i++)
{
dVector3Subtract(avPoints[i],vCylinderCirclePos,vTemp);
dMultiplyMat3Vec3(mCylinderInv,vTemp,avPoints[i]);
}
int iTmpCounter1 = 0;
int iTmpCounter2 = 0;
dVector4 plPlane;
// plane of cylinder that contains circle for intersection
dConstructPlane(vCylinderCircleNormal_Rel,REAL(0.0),plPlane);
dClipPolyToPlane(avPoints, 4, avTempArray1, iTmpCounter1, plPlane);
// Body of base circle of Cylinder
int nCircleSegment = 0;
for (nCircleSegment = 0; nCircleSegment < nCYLINDER_SEGMENT; nCircleSegment++)
{
dConstructPlane(cData.avCylinderNormals[nCircleSegment],cData.fCylinderRadius,plPlane);
if (0 == (nCircleSegment % 2))
{
dClipPolyToPlane( avTempArray1 , iTmpCounter1 , avTempArray2, iTmpCounter2, plPlane);
}
else
{
dClipPolyToPlane( avTempArray2, iTmpCounter2, avTempArray1 , iTmpCounter1 , plPlane );
}
dIASSERT( iTmpCounter1 >= 0 && iTmpCounter1 <= MAX_CYLBOX_CLIP_POINTS );
dIASSERT( iTmpCounter2 >= 0 && iTmpCounter2 <= MAX_CYLBOX_CLIP_POINTS );
}
// back transform clipped points to absolute space
dReal ftmpdot;
dReal fTempDepth;
dVector3 vPoint;
if (nCircleSegment %2)
{
for( i=0; i<iTmpCounter2; i++)
{
dMULTIPLY0_331(vPoint,cData.mCylinderRot,avTempArray2[i]);
vPoint[0] += vCylinderCirclePos[0];
vPoint[1] += vCylinderCirclePos[1];
vPoint[2] += vCylinderCirclePos[2];
dVector3Subtract(vPoint,cData.vCylinderPos,vTemp);
ftmpdot = dVector3Dot(vTemp, cData.vNormal);
fTempDepth = cData.fBestrc - ftmpdot;
// Depth must be positive
if (fTempDepth > REAL(0.0))
{
// generate contacts
dContactGeom* Contact0 = SAFECONTACT(cData.iFlags, cData.gContact, cData.nContacts, cData.iSkip);
Contact0->depth = fTempDepth;
dVector3Copy(cData.vNormal,Contact0->normal);
dVector3Copy(vPoint,Contact0->pos);
Contact0->g1 = cData.gCylinder;
Contact0->g2 = cData.gBox;
dVector3Inv(Contact0->normal);
cData.nContacts++;
}
}
}
else
{
for( i=0; i<iTmpCounter1; i++)
{
dMULTIPLY0_331(vPoint,cData.mCylinderRot,avTempArray1[i]);
vPoint[0] += vCylinderCirclePos[0];
vPoint[1] += vCylinderCirclePos[1];
vPoint[2] += vCylinderCirclePos[2];
dVector3Subtract(vPoint,cData.vCylinderPos,vTemp);
ftmpdot = dVector3Dot(vTemp, cData.vNormal);
fTempDepth = cData.fBestrc - ftmpdot;
// Depth must be positive
if (fTempDepth > REAL(0.0))
{
// generate contacts
dContactGeom* Contact0 = SAFECONTACT(cData.iFlags, cData.gContact, cData.nContacts, cData.iSkip);
Contact0->depth = fTempDepth;
dVector3Copy(cData.vNormal,Contact0->normal);
dVector3Copy(vPoint,Contact0->pos);
Contact0->g1 = cData.gCylinder;
Contact0->g2 = cData.gBox;
dVector3Inv(Contact0->normal);
cData.nContacts++;
}
}
}
}
// initialize collision data
void _cldInitCylinderBox(sCylinderBoxData& cData)
{
// get cylinder position, orientation
const dReal* pRotCyc = dGeomGetRotation(cData.gCylinder);
dMatrix3Copy(pRotCyc,cData.mCylinderRot);
const dVector3* pPosCyc = (const dVector3*)dGeomGetPosition(cData.gCylinder);
dVector3Copy(*pPosCyc,cData.vCylinderPos);
dMat3GetCol(cData.mCylinderRot,nCYLINDER_AXIS,cData.vCylinderAxis);
// get cylinder radius and size
dGeomCylinderGetParams(cData.gCylinder,&cData.fCylinderRadius,&cData.fCylinderSize);
// get box position, orientation, size
const dReal* pRotBox = dGeomGetRotation(cData.gBox);
dMatrix3Copy(pRotBox,cData.mBoxRot);
const dVector3* pPosBox = (const dVector3*)dGeomGetPosition(cData.gBox);
dVector3Copy(*pPosBox,cData.vBoxPos);
dGeomBoxGetLengths(cData.gBox, cData.vBoxHalfSize);
cData.vBoxHalfSize[0] *= REAL(0.5);
cData.vBoxHalfSize[1] *= REAL(0.5);
cData.vBoxHalfSize[2] *= REAL(0.5);
// vertex 0
cData.avBoxVertices[0][0] = -cData.vBoxHalfSize[0];
cData.avBoxVertices[0][1] = cData.vBoxHalfSize[1];
cData.avBoxVertices[0][2] = -cData.vBoxHalfSize[2];
// vertex 1
cData.avBoxVertices[1][0] = cData.vBoxHalfSize[0];
cData.avBoxVertices[1][1] = cData.vBoxHalfSize[1];
cData.avBoxVertices[1][2] = -cData.vBoxHalfSize[2];
// vertex 2
cData.avBoxVertices[2][0] = -cData.vBoxHalfSize[0];
cData.avBoxVertices[2][1] = -cData.vBoxHalfSize[1];
cData.avBoxVertices[2][2] = -cData.vBoxHalfSize[2];
// vertex 3
cData.avBoxVertices[3][0] = cData.vBoxHalfSize[0];
cData.avBoxVertices[3][1] = -cData.vBoxHalfSize[1];
cData.avBoxVertices[3][2] = -cData.vBoxHalfSize[2];
// vertex 4
cData.avBoxVertices[4][0] = cData.vBoxHalfSize[0];
cData.avBoxVertices[4][1] = cData.vBoxHalfSize[1];
cData.avBoxVertices[4][2] = cData.vBoxHalfSize[2];
// vertex 5
cData.avBoxVertices[5][0] = cData.vBoxHalfSize[0];
cData.avBoxVertices[5][1] = -cData.vBoxHalfSize[1];
cData.avBoxVertices[5][2] = cData.vBoxHalfSize[2];
// vertex 6
cData.avBoxVertices[6][0] = -cData.vBoxHalfSize[0];
cData.avBoxVertices[6][1] = -cData.vBoxHalfSize[1];
cData.avBoxVertices[6][2] = cData.vBoxHalfSize[2];
// vertex 7
cData.avBoxVertices[7][0] = -cData.vBoxHalfSize[0];
cData.avBoxVertices[7][1] = cData.vBoxHalfSize[1];
cData.avBoxVertices[7][2] = cData.vBoxHalfSize[2];
// temp index
int i = 0;
dVector3 vTempBoxVertices[8];
// transform vertices in absolute space
for(i=0; i < 8; i++)
{
dMultiplyMat3Vec3(cData.mBoxRot,cData.avBoxVertices[i], vTempBoxVertices[i]);
dVector3Add(vTempBoxVertices[i], cData.vBoxPos, cData.avBoxVertices[i]);
}
// find relative position
dVector3Subtract(cData.vCylinderPos,cData.vBoxPos,cData.vDiff);
cData.fBestDepth = MAX_FLOAT;
cData.vNormal[0] = REAL(0.0);
cData.vNormal[1] = REAL(0.0);
cData.vNormal[2] = REAL(0.0);
// calculate basic angle for nCYLINDER_SEGMENT-gon
dReal fAngle = M_PI/nCYLINDER_SEGMENT;
// calculate angle increment
dReal fAngleIncrement = fAngle * REAL(2.0);
// calculate nCYLINDER_SEGMENT-gon points
for(i = 0; i < nCYLINDER_SEGMENT; i++)
{
cData.avCylinderNormals[i][0] = -dCos(fAngle);
cData.avCylinderNormals[i][1] = -dSin(fAngle);
cData.avCylinderNormals[i][2] = 0;
fAngle += fAngleIncrement;
}
cData.fBestrb = 0;
cData.fBestrc = 0;
cData.iBestAxis = 0;
cData.nContacts = 0;
}
// initialize collision data
void sCylinderBoxData::_cldInitCylinderBox()
{
// get cylinder position, orientation
const dReal* pRotCyc = dGeomGetRotation(m_gCylinder);
dMatrix3Copy(pRotCyc,m_mCylinderRot);
const dVector3* pPosCyc = (const dVector3*)dGeomGetPosition(m_gCylinder);
dVector3Copy(*pPosCyc,m_vCylinderPos);
dMat3GetCol(m_mCylinderRot,nCYLINDER_AXIS,m_vCylinderAxis);
// get cylinder radius and size
dGeomCylinderGetParams(m_gCylinder,&m_fCylinderRadius,&m_fCylinderSize);
// get box position, orientation, size
const dReal* pRotBox = dGeomGetRotation(m_gBox);
dMatrix3Copy(pRotBox,m_mBoxRot);
const dVector3* pPosBox = (const dVector3*)dGeomGetPosition(m_gBox);
dVector3Copy(*pPosBox,m_vBoxPos);
dGeomBoxGetLengths(m_gBox, m_vBoxHalfSize);
m_vBoxHalfSize[0] *= REAL(0.5);
m_vBoxHalfSize[1] *= REAL(0.5);
m_vBoxHalfSize[2] *= REAL(0.5);
// vertex 0
m_avBoxVertices[0][0] = -m_vBoxHalfSize[0];
m_avBoxVertices[0][1] = m_vBoxHalfSize[1];
m_avBoxVertices[0][2] = -m_vBoxHalfSize[2];
// vertex 1
m_avBoxVertices[1][0] = m_vBoxHalfSize[0];
m_avBoxVertices[1][1] = m_vBoxHalfSize[1];
m_avBoxVertices[1][2] = -m_vBoxHalfSize[2];
// vertex 2
m_avBoxVertices[2][0] = -m_vBoxHalfSize[0];
m_avBoxVertices[2][1] = -m_vBoxHalfSize[1];
m_avBoxVertices[2][2] = -m_vBoxHalfSize[2];
// vertex 3
m_avBoxVertices[3][0] = m_vBoxHalfSize[0];
m_avBoxVertices[3][1] = -m_vBoxHalfSize[1];
m_avBoxVertices[3][2] = -m_vBoxHalfSize[2];
// vertex 4
m_avBoxVertices[4][0] = m_vBoxHalfSize[0];
m_avBoxVertices[4][1] = m_vBoxHalfSize[1];
m_avBoxVertices[4][2] = m_vBoxHalfSize[2];
// vertex 5
m_avBoxVertices[5][0] = m_vBoxHalfSize[0];
m_avBoxVertices[5][1] = -m_vBoxHalfSize[1];
m_avBoxVertices[5][2] = m_vBoxHalfSize[2];
// vertex 6
m_avBoxVertices[6][0] = -m_vBoxHalfSize[0];
m_avBoxVertices[6][1] = -m_vBoxHalfSize[1];
m_avBoxVertices[6][2] = m_vBoxHalfSize[2];
// vertex 7
m_avBoxVertices[7][0] = -m_vBoxHalfSize[0];
m_avBoxVertices[7][1] = m_vBoxHalfSize[1];
m_avBoxVertices[7][2] = m_vBoxHalfSize[2];
// temp index
int i = 0;
dVector3 vTempBoxVertices[8];
// transform vertices in absolute space
for(i=0; i < 8; i++)
{
dMultiplyMat3Vec3(m_mBoxRot,m_avBoxVertices[i], vTempBoxVertices[i]);
dVector3Add(vTempBoxVertices[i], m_vBoxPos, m_avBoxVertices[i]);
}
// find relative position
dVector3Subtract(m_vCylinderPos,m_vBoxPos,m_vDiff);
m_fBestDepth = MAX_FLOAT;
m_vNormal[0] = REAL(0.0);
m_vNormal[1] = REAL(0.0);
m_vNormal[2] = REAL(0.0);
// calculate basic angle for nCYLINDER_SEGMENT-gon
dReal fAngle = (dReal) (M_PI/nCYLINDER_SEGMENT);
// calculate angle increment
dReal fAngleIncrement = fAngle * REAL(2.0);
// calculate nCYLINDER_SEGMENT-gon points
for(i = 0; i < nCYLINDER_SEGMENT; i++)
{
m_avCylinderNormals[i][0] = -dCos(fAngle);
m_avCylinderNormals[i][1] = -dSin(fAngle);
m_avCylinderNormals[i][2] = 0;
fAngle += fAngleIncrement;
}
m_fBestrb = 0;
m_fBestrc = 0;
m_iBestAxis = 0;
m_nContacts = 0;
}
