/************************************************************************* * * * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * * All rights reserved. Email: russ@q12.org Web: www.q12.org * * * * This library is free software; you can redistribute it and/or * * modify it under the terms of EITHER: * * (1) The GNU Lesser General Public License as published by the Free * * Software Foundation; either version 2.1 of the License, or (at * * your option) any later version. The text of the GNU Lesser * * General Public License is included with this library in the * * file LICENSE.TXT. * * (2) The BSD-style license that is included with this library in * * the file LICENSE-BSD.TXT. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * * LICENSE.TXT and LICENSE-BSD.TXT for more details. * * * *************************************************************************/ /* the standard ODE geometry primitives. */ #ifndef _ODE_COLLISION_STD_H_ #define _ODE_COLLISION_STD_H_ #include "ode_common.hpp" #include "ode_math.hpp" #include "collision_kernel.h" // primitive collision functions - these have the dColliderFn interface, i.e. // the same interface as dCollide(). the first and second geom arguments must // have the specified types. int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideBoxPlane (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideRayCapsule (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideRayCylinder (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); // Cylinder - Box/Sphere by (C) CroTeam // Ported by Nguyen Binh int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideCylinderSphere(dxGeom *gCylinder, dxGeom *gSphere, int flags, dContactGeom *contact, int skip); int dCollideCylinderPlane(dxGeom *gCylinder, dxGeom *gPlane, int flags, dContactGeom *contact, int skip); //--> Convex Collision int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); //<-- Convex Collision // dHeightfield int dCollideHeightfield( dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip ); //**************************************************************************** // the basic geometry objects struct dxSphere : public dxGeom { dReal radius; // sphere radius dxSphere (dSpaceID space, dReal _radius); void computeAABB(); }; struct dxBox : public dxGeom { dVector3 side; // side lengths (x,y,z) dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz); void computeAABB(); }; struct dxCapsule : public dxGeom { dReal radius,lz; // radius, length along z axis dxCapsule (dSpaceID space, dReal _radius, dReal _length); void computeAABB(); }; struct dxCylinder : public dxGeom { dReal radius,lz; // radius, length along z axis dxCylinder (dSpaceID space, dReal _radius, dReal _length); void computeAABB(); }; struct dxPlane : public dxGeom { dReal p[4]; dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); void computeAABB(); }; struct dxRay : public dxGeom { dReal length; dxRay (dSpaceID space, dReal _length); void computeAABB(); }; struct dxConvex : public dxGeom { const dReal *planes; /*!< An array of planes in the form: normal X, normal Y, normal Z,Distance */ const dReal *points; /*!< An array of points X,Y,Z */ const unsigned int *polygons; /*! An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order*/ unsigned int planecount; /*!< Amount of planes in planes */ unsigned int pointcount;/*!< Amount of points in points */ unsigned int edgecount;/*!< Amount of edges in convex */ dReal saabb[6];/*!< Static AABB */ dxConvex(dSpaceID space, const dReal *planes, unsigned int planecount, const dReal *points, unsigned int pointcount, const unsigned int *polygons); ~dxConvex() { if((edgecount!=0)&&(edges!=NULL)) delete[] edges; } void computeAABB(); struct edge { unsigned int first; unsigned int second; }; edge* edges; /*! \brief A Support mapping function for convex shapes \param dir [IN] direction to find the Support Point for \return the index of the support vertex. */ inline unsigned int SupportIndex(dVector3 dir) { dVector3 rdir; unsigned int index=0; dMultiply1_331 (rdir,final_posr->R,dir); dReal max = dCalcVectorDot3(points,rdir); dReal tmp; for (unsigned int i = 1; i < pointcount; ++i) { tmp = dCalcVectorDot3(points+(i*3),rdir); if (tmp > max) { index=i; max = tmp; } } return index; } private: // For Internal Use Only /*! \brief Fills the edges dynamic array based on points and polygons. */ void FillEdges(); #if 0 /* What this does is the same as the Support function by doing some preprocessing for optimization. Not complete yet. */ // Based on Eberly's Game Physics Book page 307 struct Arc { // indices of polyhedron normals that form the spherical arc int normals[2]; // index of edge shared by polyhedron faces int edge; }; struct Polygon { // indices of polyhedron normals that form the spherical polygon std::vector normals; // index of extreme vertex corresponding to this polygon int vertex; }; // This is for extrem feature query and not the usual level BSP structure (that comes later) struct BSPNode { // Normal index (interior node), vertex index (leaf node) int normal; // if Dot (E,D)>=0, D gets propagated to this child BSPNode* right; // if Dot (E,D)<0, D gets propagated to this child BSPNode* left; }; void CreateTree(); BSPNode* CreateNode(std::vector Arcs,std::vector Polygons); void GetFacesSharedByVertex(int i, std::vector f); void GetFacesSharedByEdge(int i, int* f); void GetFaceNormal(int i, dVector3 normal); BSPNode* tree; #endif }; #endif