bool dgCollisionConvexHull::OOBBTest (const dgMatrix& matrix, const dgCollisionConvex* const shape, void* const cacheOrder) const
{
bool ret;
_ASSERTE (cacheOrder);
ret = dgCollisionConvex::OOBBTest (matrix, shape, cacheOrder);
if (ret) {
const dgConvexSimplexEdge* const* faceArray = m_faceArray;
dgCollisionBoundPlaneCache* const cache = (dgCollisionBoundPlaneCache*)cacheOrder;
for (dgInt32 i = 0; i < dgInt32 (sizeof (cache->m_planes) / sizeof (dgPlane)); i ++) {
dgFloat32 dist;
const dgPlane& plane = cache->m_planes[i];
if ((plane % plane) > dgFloat32 (0.0f)) {
dgVector dir (matrix.UnrotateVector(plane.Scale (-1.0f)));
dir.m_w = dgFloat32 (0.0f);
dgVector p (matrix.TransformVector (shape->SupportVertex(dir)));
dist = plane.Evalue (p);
if (dist > dgFloat32 (0.1f)){
return false;
}
}
}
for (dgInt32 i = 0; i < m_boundPlanesCount; i ++) {
dgInt32 i0;
dgInt32 i1;
dgInt32 i2;
dgFloat32 dist;
const dgConvexSimplexEdge* const face = faceArray[i];
i0 = face->m_prev->m_vertex;
i1 = face->m_vertex;
i2 = face->m_next->m_vertex;
const dgVector& p0 = m_vertex[i0];
dgVector normal ((m_vertex[i1] - p0) * (m_vertex[i2] - p0));
normal = normal.Scale (dgFloat32 (1.0f) / dgSqrt (normal % normal));
dgVector dir (matrix.UnrotateVector(normal.Scale (-1.0f)));
dir.m_w = dgFloat32 (0.0f);
dgVector p (matrix.TransformVector (shape->SupportVertex(dir)));
//_ASSERTE ((normal % (m_boxOrigin - p0)) < 0.0f);
dist = normal % (p - p0);
if (dist > dgFloat32 (0.1f)){
for (dgInt32 j = 0; j < (dgInt32 (sizeof (cache->m_planes) / sizeof (dgPlane)) - 1); j ++) {
cache->m_planes[j + 1] = cache->m_planes[j];
}
cache->m_planes[1] = dgPlane (normal, - (normal % p0));
return false;
}
}
}
return ret;
}
// Compute axis aligned box
static void BoundingBox (const dgMatrix &Mat, const hacd::HaF32 vertex[], hacd::HaI32 vertexCount, hacd::HaI32 stride, dgVector &min, dgVector &max)
{
hacd::HaF32 xmin = hacd::HaF32 (1.0e10f);
hacd::HaF32 ymin = hacd::HaF32 (1.0e10f);
hacd::HaF32 zmin = hacd::HaF32 (1.0e10f);
hacd::HaF32 xmax = hacd::HaF32 (-1.0e10f);
hacd::HaF32 ymax = hacd::HaF32 (-1.0e10f);
hacd::HaF32 zmax = hacd::HaF32 (-1.0e10f);
const hacd::HaF32* ptr = vertex;
for (hacd::HaI32 i = 0 ; i < vertexCount; i ++ ) {
dgVector tmp (ptr[0], ptr[1], ptr[2], hacd::HaF32 (0.0f));
ptr += stride;
tmp = Mat.UnrotateVector (tmp);
if (tmp.m_x < xmin) xmin = tmp.m_x;
if (tmp.m_y < ymin) ymin = tmp.m_y;
if (tmp.m_z < zmin) zmin = tmp.m_z;
if (tmp.m_x > xmax) xmax = tmp.m_x;
if (tmp.m_y > ymax) ymax = tmp.m_y;
if (tmp.m_z > zmax) zmax = tmp.m_z;
}
min = dgVector (xmin, ymin, zmin, hacd::HaF32 (0.0f));
max = dgVector (xmax, ymax, zmax, hacd::HaF32 (0.0f));
}
static void BoundingBox (const dgMatrix &matrix, const hacd::HaF32 vertex[], hacd::HaI32 stride, const hacd::HaI32 index[], hacd::HaI32 indexCount, dgVector &min, dgVector &max)
{
hacd::HaF32 xmin = hacd::HaF32 (1.0e10f);
hacd::HaF32 ymin = hacd::HaF32 (1.0e10f);
hacd::HaF32 zmin = hacd::HaF32 (1.0e10f);
hacd::HaF32 xmax = hacd::HaF32 (-1.0e10f);
hacd::HaF32 ymax = hacd::HaF32 (-1.0e10f);
hacd::HaF32 zmax = hacd::HaF32 (-1.0e10f);
const hacd::HaF32* const ptr = vertex;
for (hacd::HaI32 j = 0 ; j < indexCount; j ++ ) {
hacd::HaI32 i = index[j] * stride;
dgVector tmp (ptr[i + 0], ptr[i + 1], ptr[i + 2], hacd::HaF32 (0.0f));
tmp = matrix.UnrotateVector (tmp);
if (tmp.m_x < xmin) xmin = tmp.m_x;
if (tmp.m_y < ymin) ymin = tmp.m_y;
if (tmp.m_z < zmin) zmin = tmp.m_z;
if (tmp.m_x > xmax) xmax = tmp.m_x;
if (tmp.m_y > ymax) ymax = tmp.m_y;
if (tmp.m_z > zmax) zmax = tmp.m_z;
}
min = dgVector (xmin, ymin, zmin, hacd::HaF32 (0.0f));
max = dgVector (xmax, ymax, zmax, hacd::HaF32 (0.0f));
}
static void BoundingBox (
const dgMatrix &matrix,
const dgFloat32 vertex[],
dgInt32 stride,
const dgInt32 index[],
dgInt32 indexCount,
dgVector &min,
dgVector &max)
{
dgInt32 i;
dgInt32 j;
const dgFloat32 *ptr;
dgFloat32 xmin;
dgFloat32 xmax;
dgFloat32 ymin;
dgFloat32 ymax;
dgFloat32 zmin;
dgFloat32 zmax;
xmin = dgFloat32 (1.0e10f);
ymin = dgFloat32 (1.0e10f);
zmin = dgFloat32 (1.0e10f);
xmax = dgFloat32 (-1.0e10f);
ymax = dgFloat32 (-1.0e10f);
zmax = dgFloat32 (-1.0e10f);
ptr = vertex;
for (j = 0 ; j < indexCount; j ++ ) {
i = index[j] * stride;
dgVector tmp (ptr[i + 0], ptr[i + 1], ptr[i + 2], dgFloat32 (0.0f));
tmp = matrix.UnrotateVector (tmp);
if (tmp.m_x < xmin) xmin = tmp.m_x;
if (tmp.m_y < ymin) ymin = tmp.m_y;
if (tmp.m_z < zmin) zmin = tmp.m_z;
if (tmp.m_x > xmax) xmax = tmp.m_x;
if (tmp.m_y > ymax) ymax = tmp.m_y;
if (tmp.m_z > zmax) zmax = tmp.m_z;
}
min = dgVector (xmin, ymin, zmin, dgFloat32 (0.0f));
max = dgVector (xmax, ymax, zmax, dgFloat32 (0.0f));
}
// Compute axis aligned box
static void BoundingBox (
const dgMatrix &Mat,
const dgFloat32 vertex[],
dgInt32 vertexCount,
dgInt32 stride,
dgVector &min,
dgVector &max)
{
dgInt32 i;
const dgFloat32 *ptr;
dgFloat32 xmin;
dgFloat32 xmax;
dgFloat32 ymin;
dgFloat32 ymax;
dgFloat32 zmin;
dgFloat32 zmax;
xmin = dgFloat32 (1.0e10f);
ymin = dgFloat32 (1.0e10f);
zmin = dgFloat32 (1.0e10f);
xmax = dgFloat32 (-1.0e10f);
ymax = dgFloat32 (-1.0e10f);
zmax = dgFloat32 (-1.0e10f);
ptr = vertex;
for (i = 0 ; i < vertexCount; i ++ ) {
dgVector tmp (ptr[0], ptr[1], ptr[2], dgFloat32 (0.0f));
ptr += stride;
tmp = Mat.UnrotateVector (tmp);
if (tmp.m_x < xmin) xmin = tmp.m_x;
if (tmp.m_y < ymin) ymin = tmp.m_y;
if (tmp.m_z < zmin) zmin = tmp.m_z;
if (tmp.m_x > xmax) xmax = tmp.m_x;
if (tmp.m_y > ymax) ymax = tmp.m_y;
if (tmp.m_z > zmax) zmax = tmp.m_z;
}
min = dgVector (xmin, ymin, zmin, dgFloat32 (0.0f));
max = dgVector (xmax, ymax, zmax, dgFloat32 (0.0f));
}