dgVector dgCollisionChamferCylinder::SupportVertex (const dgVector& dir, dgInt32* const vertexIndex) const
{
dgAssert (dir.m_w == dgFloat32 (0.0f));
dgAssert (dgAbs(dir.DotProduct(dir).GetScalar() - dgFloat32 (1.0f)) < dgFloat32 (1.0e-3f));
dgFloat32 x = dir.GetScalar();
if (dgAbs (x) > dgFloat32 (0.9999f)) {
//return dgVector ((x > dgFloat32 (0.0f)) ? m_height : - m_height, dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
return dgVector (dgSign (x) * m_height, m_radius, dgFloat32 (0.0f), dgFloat32 (0.0f));
}
dgVector sideDir (m_yzMask & dir);
//sideDir = sideDir * sideDir.InvMagSqrt();
sideDir = sideDir.Normalize();
return sideDir.Scale(m_radius) + dir.Scale (m_height);
}
dgInt32 dgCollisionConvexPolygon::CalculatePlaneIntersection (const dgVector& normalIn, const dgVector& origin, dgVector* const contactsOut, dgFloat32 normalSign) const
{
dgVector normal(normalIn);
dgInt32 count = 0;
dgFloat32 maxDist = dgFloat32 (1.0f);
dgFloat32 projectFactor = m_normal % normal;
if (projectFactor < dgFloat32 (0.0f)) {
projectFactor *= dgFloat32 (-1.0f);
normal = normal.Scale3 (dgFloat32 (-1.0f));
}
if (projectFactor > dgFloat32 (0.9999f)) {
for (dgInt32 i = 0; i < m_count; i ++) {
contactsOut[count] = m_localPoly[i];
count ++;
}
#ifdef _DEBUG
dgInt32 j = count - 1;
for (dgInt32 i = 0; i < count; i ++) {
dgVector error (contactsOut[i] - contactsOut[j]);
dgAssert ((error % error) > dgFloat32 (1.0e-20f));
j = i;
}
#endif
} else if (projectFactor > dgFloat32 (0.1736f)) {
maxDist = dgFloat32 (0.0f);
dgPlane plane (normal, - (normal % origin));
dgVector p0 (m_localPoly[m_count - 1]);
dgFloat32 side0 = plane.Evalue (p0);
for (dgInt32 i = 0; i < m_count; i ++) {
dgVector p1 (m_localPoly[i]);
dgFloat32 side1 = plane.Evalue (p1);
if (side0 > dgFloat32 (0.0f)) {
maxDist = dgMax (maxDist, side0);
contactsOut[count] = p0 - plane.Scale3 (side0);
count ++;
if (count > 1) {
dgVector edgeSegment (contactsOut[count - 1] - contactsOut[count - 2]);
dgFloat32 error = edgeSegment % edgeSegment;
if (error < dgFloat32 (1.0e-8f)) {
count --;
}
}
if (side1 <= dgFloat32 (0.0f)) {
dgVector dp (p1 - p0);
dgFloat32 t = plane % dp;
dgAssert (dgAbsf (t) >= dgFloat32 (0.0f));
if (dgAbsf (t) < dgFloat32 (1.0e-8f)) {
t = dgSign(t) * dgFloat32 (1.0e-8f);
}
contactsOut[count] = p0 - dp.Scale3 (side0 / t);
count ++;
if (count > 1) {
dgVector edgeSegment (contactsOut[count - 1] - contactsOut[count - 2]);
dgFloat32 error = edgeSegment % edgeSegment;
if (error < dgFloat32 (1.0e-8f)) {
count --;
}
}
}
} else if (side1 > dgFloat32 (0.0f)) {
dgVector dp (p1 - p0);
dgFloat32 t = plane % dp;
dgAssert (dgAbsf (t) >= dgFloat32 (0.0f));
if (dgAbsf (t) < dgFloat32 (1.0e-8f)) {
t = dgSign(t) * dgFloat32 (1.0e-8f);
}
contactsOut[count] = p0 - dp.Scale3 (side0 / t);
count ++;
if (count > 1) {
dgVector edgeSegment (contactsOut[count - 1] - contactsOut[count - 2]);
dgFloat32 error = edgeSegment % edgeSegment;
if (error < dgFloat32 (1.0e-8f)) {
count --;
}
}
}
side0 = side1;
p0 = p1;
}
} else {
maxDist = dgFloat32 (1.0e10f);
dgPlane plane (normal, - (normal % origin));
dgVector p0 (m_localPoly[m_count - 1]);
dgFloat32 side0 = plane.Evalue (p0);
for (dgInt32 i = 0; i < m_count; i ++) {
dgVector p1 (m_localPoly[i]);
dgFloat32 side1 = plane.Evalue (p1);
if ((side0 * side1) < dgFloat32 (0.0f)) {
dgVector dp (p1 - p0);
dgFloat32 t = plane % dp;
dgAssert (dgAbsf (t) >= dgFloat32 (0.0f));
if (dgAbsf (t) < dgFloat32 (1.0e-8f)) {
t = dgSign(t) * dgFloat32 (1.0e-8f);
}
contactsOut[count] = p0 - dp.Scale3 (side0 / t);
count ++;
if (count > 1) {
dgVector edgeSegment (contactsOut[count - 1] - contactsOut[count - 2]);
dgFloat32 error = edgeSegment % edgeSegment;
if (error < dgFloat32 (1.0e-8f)) {
count --;
}
}
}
side0 = side1;
p0 = p1;
}
}
if (count > 1) {
if (maxDist < dgFloat32 (1.0e-3f)) {
dgVector maxPoint (contactsOut[0]);
dgVector minPoint (contactsOut[0]);
dgVector lineDir (m_normal * normal);
dgFloat32 proj = contactsOut[0] % lineDir;
dgFloat32 maxProjection = proj;
dgFloat32 minProjection = proj;
for (dgInt32 i = 1; i < count; i ++) {
proj = contactsOut[i] % lineDir;
if (proj > maxProjection) {
maxProjection = proj;
maxPoint = contactsOut[i];
}
if (proj < minProjection) {
minProjection = proj;
minPoint = contactsOut[i];
}
}
contactsOut[0] = maxPoint;
contactsOut[1] = minPoint;
count = 2;
}
dgVector error (contactsOut[count - 1] - contactsOut[0]);
if ((error % error) < dgFloat32 (1.0e-8f)) {
count --;
}
}
#ifdef _DEBUG
if (count > 1) {
dgInt32 j = count - 1;
for (dgInt32 i = 0; i < count; i ++) {
dgVector error (contactsOut[i] - contactsOut[j]);
dgAssert ((error % error) > dgFloat32 (1.0e-20f));
j = i;
}
if (count >= 3) {
dgVector n (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
dgVector e0 (contactsOut[1] - contactsOut[0]);
for (dgInt32 i = 2; i < count; i ++) {
dgVector e1 (contactsOut[i] - contactsOut[0]);
n += e0 * e1;
e0 = e1;
}
n = n.Scale3 (dgRsqrt(n % n));
dgFloat32 val = n % normal;
dgAssert (val > dgFloat32 (0.9f));
}
}
#endif
return count;
}
void dgMatrix::PolarDecomposition (dgMatrix& transformMatrix, dgVector& scale, dgMatrix& stretchAxis, const dgMatrix* const initialStretchAxis) const
{
// a polar decomposition decompose matrix A = O * S
// where S = sqrt (transpose (L) * L)
/*
// calculate transpose (L) * L
dgMatrix LL ((*this) * Transpose());
// check is this is a pure uniformScale * rotation * translation
dgFloat32 det2 = (LL[0][0] + LL[1][1] + LL[2][2]) * dgFloat32 (1.0f / 3.0f);
dgFloat32 invdet2 = 1.0f / det2;
dgMatrix pureRotation (LL);
pureRotation[0] = pureRotation[0].Scale3 (invdet2);
pureRotation[1] = pureRotation[1].Scale3 (invdet2);
pureRotation[2] = pureRotation[2].Scale3 (invdet2);
dgFloat32 sign = ((((*this)[0] * (*this)[1]) % (*this)[2]) > 0.0f) ? 1.0f : -1.0f;
dgFloat32 det = (pureRotation[0] * pureRotation[1]) % pureRotation[2];
if (dgAbsf (det - dgFloat32 (1.0f)) < dgFloat32 (1.0e-5f)) {
// this is a pure scale * rotation * translation
det = sign * dgSqrt (det2);
scale[0] = det;
scale[1] = det;
scale[2] = det;
det = dgFloat32 (1.0f)/ det;
transformMatrix.m_front = m_front.Scale3 (det);
transformMatrix.m_up = m_up.Scale3 (det);
transformMatrix.m_right = m_right.Scale3 (det);
transformMatrix[0][3] = dgFloat32 (0.0f);
transformMatrix[1][3] = dgFloat32 (0.0f);
transformMatrix[2][3] = dgFloat32 (0.0f);
transformMatrix.m_posit = m_posit;
stretchAxis = dgGetIdentityMatrix();
} else {
stretchAxis = LL;
stretchAxis.EigenVectors (scale);
// I need to deal with by seeing of some of the Scale are duplicated
// do this later (maybe by a given rotation around the non uniform axis but I do not know if it will work)
// for now just us the matrix
scale[0] = sign * dgSqrt (scale[0]);
scale[1] = sign * dgSqrt (scale[1]);
scale[2] = sign * dgSqrt (scale[2]);
scale[3] = dgFloat32 (0.0f);
dgMatrix scaledAxis;
scaledAxis[0] = stretchAxis[0].Scale3 (dgFloat32 (1.0f) / scale[0]);
scaledAxis[1] = stretchAxis[1].Scale3 (dgFloat32 (1.0f) / scale[1]);
scaledAxis[2] = stretchAxis[2].Scale3 (dgFloat32 (1.0f) / scale[2]);
scaledAxis[3] = stretchAxis[3];
dgMatrix symetricInv (stretchAxis.Transpose() * scaledAxis);
transformMatrix = symetricInv * (*this);
transformMatrix.m_posit = m_posit;
}
*/
// test the f*****g factorization
dgMatrix xxxxx(dgRollMatrix(30.0f * 3.1416f / 180.0f));
xxxxx = dgYawMatrix(30.0f * 3.1416f / 180.0f) * xxxxx;
dgMatrix xxxxx1(dgGetIdentityMatrix());
xxxxx1[0][0] = 2.0f;
dgMatrix xxxxx2(xxxxx.Inverse() * xxxxx1 * xxxxx);
dgMatrix xxxxx3 (xxxxx2);
xxxxx2.EigenVectors(scale);
dgMatrix xxxxx4(xxxxx2.Inverse() * xxxxx1 * xxxxx2);
//dgFloat32 sign = ((((*this)[0] * (*this)[1]) % (*this)[2]) > 0.0f) ? 1.0f : -1.0f;
dgFloat32 sign = dgSign(((*this)[0] * (*this)[1]) % (*this)[2]);
stretchAxis = (*this) * Transpose();
stretchAxis.EigenVectors (scale);
// I need to deal with by seeing of some of the Scale are duplicated
// do this later (maybe by a given rotation around the non uniform axis but I do not know if it will work)
// for now just us the matrix
scale[0] = sign * dgSqrt (scale[0]);
scale[1] = sign * dgSqrt (scale[1]);
scale[2] = sign * dgSqrt (scale[2]);
scale[3] = dgFloat32 (0.0f);
dgMatrix scaledAxis;
scaledAxis[0] = stretchAxis[0].Scale3 (dgFloat32 (1.0f) / scale[0]);
scaledAxis[1] = stretchAxis[1].Scale3 (dgFloat32 (1.0f) / scale[1]);
scaledAxis[2] = stretchAxis[2].Scale3 (dgFloat32 (1.0f) / scale[2]);
scaledAxis[3] = stretchAxis[3];
dgMatrix symetricInv (stretchAxis.Transpose() * scaledAxis);
transformMatrix = symetricInv * (*this);
transformMatrix.m_posit = m_posit;
}
void dgMatrix::CalcPitchYawRoll (dgVector& euler0, dgVector& euler1) const
{
const dgMatrix& matrix = *this;
dgAssert (dgAbsf (((matrix[0] * matrix[1]) % matrix[2]) - dgFloat32 (1.0f)) < dgFloat32 (1.0e-4f));
// Assuming the angles are in radians.
if (matrix[0][2] > dgFloat32 (0.99995f)) {
dgFloat32 picth0 = dgFloat32 (0.0f);
dgFloat32 yaw0 = dgFloat32 (-3.141592f * 0.5f);
dgFloat32 roll0 = - dgAtan2(matrix[2][1], matrix[1][1]);
euler0[0] = picth0;
euler0[1] = yaw0;
euler0[2] = roll0;
euler1[0] = picth0;
euler1[1] = yaw0;
euler1[2] = roll0;
} else if (matrix[0][2] < dgFloat32 (-0.99995f)) {
dgFloat32 picth0 = dgFloat32 (0.0f);
dgFloat32 yaw0 = dgFloat32 (3.141592f * 0.5f);
dgFloat32 roll0 = dgAtan2(matrix[2][1], matrix[1][1]);
euler0[0] = picth0;
euler0[1] = yaw0;
euler0[2] = roll0;
euler1[0] = picth0;
euler1[1] = yaw0;
euler1[2] = roll0;
} else {
dgFloat32 yaw0 = -dgAsin ( matrix[0][2]);
dgFloat32 yaw1 = dgFloat32 (3.141592f) - yaw0;
dgFloat32 sign0 = dgSign(dgCos (yaw0));
dgFloat32 sign1 = dgSign(dgCos (yaw1));
dgFloat32 picth0 = dgAtan2(matrix[1][2] * sign0, matrix[2][2] * sign0);
dgFloat32 picth1 = dgAtan2(matrix[1][2] * sign1, matrix[2][2] * sign1);
dgFloat32 roll0 = dgAtan2(matrix[0][1] * sign0, matrix[0][0] * sign0);
dgFloat32 roll1 = dgAtan2(matrix[0][1] * sign1, matrix[0][0] * sign1);
if (yaw1 > dgFloat32 (3.141592f)) {
yaw1 -= dgFloat32 (2.0f * 3.141592f);
}
euler0[0] = picth0;
euler0[1] = yaw0;
euler0[2] = roll0;
euler1[0] = picth1;
euler1[1] = yaw1;
euler1[2] = roll1;
}
euler0[3] = dgFloat32(0.0f);
euler1[3] = dgFloat32(0.0f);
#ifdef _DEBUG
dgMatrix m0 (dgPitchMatrix (euler0[0]) * dgYawMatrix(euler0[1]) * dgRollMatrix(euler0[2]));
dgMatrix m1 (dgPitchMatrix (euler1[0]) * dgYawMatrix(euler1[1]) * dgRollMatrix(euler1[2]));
for (int i = 0; i < 3; i ++) {
for (int j = 0; j < 3; j ++) {
dgFloat32 error = dgAbsf (m0[i][j] - matrix[i][j]);
dgAssert (error < 5.0e-2f);
error = dgAbsf (m1[i][j] - matrix[i][j]);
dgAssert (error < 5.0e-2f);
}
}
#endif
}
