740 lines
28 KiB
C++
740 lines
28 KiB
C++
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/*
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* OPCODE - Optimized Collision Detection
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* Copyright (C) 2001 Pierre Terdiman
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* Homepage: http://www.codercorner.com/Opcode.htm
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains code for a sphere collider.
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* \file OPC_SphereCollider.cpp
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* \author Pierre Terdiman
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* \date June, 2, 2001
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains a sphere-vs-tree collider.
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* This class performs a collision test between a sphere and an AABB tree. You can use this to do a standard player vs world collision,
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* in a Nettle/Telemachos way. It doesn't suffer from all reported bugs in those two classic codes - the "new" one by Paul Nettle is a
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* debuggued version I think. Collision response can be driven by reported collision data - it works extremely well for me. In sake of
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* efficiency, all meshes (that is, all AABB trees) should of course also be kept in an extra hierarchical structure (octree, whatever).
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*
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* \class SphereCollider
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* \author Pierre Terdiman
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* \version 1.3
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* \date June, 2, 2001
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Precompiled Header
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#include "Stdafx.h"
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using namespace Opcode;
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#include "OPC_SphereAABBOverlap.h"
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#include "OPC_SphereTriOverlap.h"
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#define SET_CONTACT(prim_index, flag) \
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/* Set contact status */ \
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mFlags |= flag; \
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mTouchedPrimitives->Add(udword(prim_index));
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//! Sphere-triangle overlap test
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#define SPHERE_PRIM(prim_index, flag) \
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/* Request vertices from the app */ \
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VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \
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\
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/* Perform sphere-tri overlap test */ \
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if(SphereTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \
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{ \
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SET_CONTACT(prim_index, flag) \
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Constructor.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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SphereCollider::SphereCollider()
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{
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mCenter.Zero();
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mRadius2 = 0.0f;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Destructor.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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SphereCollider::~SphereCollider()
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{
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Generic collision query for generic OPCODE models. After the call, access the results:
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* - with GetContactStatus()
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* - with GetNbTouchedPrimitives()
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* - with GetTouchedPrimitives()
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*
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* \param cache [in/out] a sphere cache
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* \param sphere [in] collision sphere in local space
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* \param model [in] Opcode model to collide with
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* \param worlds [in] sphere's world matrix, or null
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* \param worldm [in] model's world matrix, or null
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* \return true if success
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* \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds, const Matrix4x4* worldm)
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{
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// Checkings
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if(!Setup(&model)) return false;
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// Init collision query
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if(InitQuery(cache, sphere, worlds, worldm)) return true;
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// Special case for 1-leaf trees
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if(mCurrentModel && mCurrentModel->HasSingleNode())
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{
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// Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles
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udword Nb = mIMesh->GetNbTriangles();
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// Loop through all triangles
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for(udword i=0;i<Nb;i++)
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{
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SPHERE_PRIM(i, OPC_CONTACT)
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}
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return true;
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}
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if(!model.HasLeafNodes())
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{
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if(model.IsQuantized())
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{
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const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
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// Setup dequantization coeffs
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mCenterCoeff = Tree->mCenterCoeff;
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mExtentsCoeff = Tree->mExtentsCoeff;
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// Perform collision query
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if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes());
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else _Collide(Tree->GetNodes());
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}
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else
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{
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const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
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// Perform collision query
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if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes());
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else _Collide(Tree->GetNodes());
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}
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}
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else
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{
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if(model.IsQuantized())
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{
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const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
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// Setup dequantization coeffs
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mCenterCoeff = Tree->mCenterCoeff;
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mExtentsCoeff = Tree->mExtentsCoeff;
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// Perform collision query
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if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes());
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else _Collide(Tree->GetNodes());
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}
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else
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{
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const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
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// Perform collision query
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if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes());
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else _Collide(Tree->GetNodes());
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}
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}
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return true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Initializes a collision query :
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* - reset stats & contact status
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* - setup matrices
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* - check temporal coherence
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*
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* \param cache [in/out] a sphere cache
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* \param sphere [in] sphere in local space
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* \param worlds [in] sphere's world matrix, or null
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* \param worldm [in] model's world matrix, or null
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* \return TRUE if we can return immediately
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* \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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BOOL SphereCollider::InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds, const Matrix4x4* worldm)
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{
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// 1) Call the base method
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VolumeCollider::InitQuery();
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// 2) Compute sphere in model space:
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// - Precompute R^2
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mRadius2 = sphere.mRadius * sphere.mRadius;
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// - Compute center position
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mCenter = sphere.mCenter;
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// -> to world space
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if(worlds) mCenter *= *worlds;
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// -> to model space
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if(worldm)
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{
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// Invert model matrix
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Matrix4x4 InvWorldM;
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InvertPRMatrix(InvWorldM, *worldm);
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mCenter *= InvWorldM;
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}
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// 3) Setup destination pointer
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mTouchedPrimitives = &cache.TouchedPrimitives;
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// 4) Special case: 1-triangle meshes [Opcode 1.3]
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if(mCurrentModel && mCurrentModel->HasSingleNode())
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{
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if(!SkipPrimitiveTests())
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{
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// We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0.
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mTouchedPrimitives->Reset();
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// Perform overlap test between the unique triangle and the sphere (and set contact status if needed)
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SPHERE_PRIM(udword(0), OPC_CONTACT)
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// Return immediately regardless of status
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return TRUE;
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}
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}
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// 5) Check temporal coherence :
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if(TemporalCoherenceEnabled())
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{
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// Here we use temporal coherence
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// => check results from previous frame before performing the collision query
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if(FirstContactEnabled())
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{
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// We're only interested in the first contact found => test the unique previously touched face
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if(mTouchedPrimitives->GetNbEntries())
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{
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// Get index of previously touched face = the first entry in the array
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udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0);
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// Then reset the array:
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// - if the overlap test below is successful, the index we'll get added back anyway
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// - if it isn't, then the array should be reset anyway for the normal query
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mTouchedPrimitives->Reset();
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// Perform overlap test between the cached triangle and the sphere (and set contact status if needed)
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SPHERE_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT)
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// Return immediately if possible
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if(GetContactStatus()) return TRUE;
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}
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// else no face has been touched during previous query
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// => we'll have to perform a normal query
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}
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else
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{
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// We're interested in all contacts =>test the new real sphere N(ew) against the previous fat sphere P(revious):
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float r = sqrtf(cache.FatRadius2) - sphere.mRadius;
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if(IsCacheValid(cache) && cache.Center.SquareDistance(mCenter) < r*r)
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{
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// - if N is included in P, return previous list
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// => we simply leave the list (mTouchedFaces) unchanged
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// Set contact status if needed
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if(mTouchedPrimitives->GetNbEntries()) mFlags |= OPC_TEMPORAL_CONTACT;
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// In any case we don't need to do a query
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return TRUE;
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}
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else
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{
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// - else do the query using a fat N
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// Reset cache since we'll about to perform a real query
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mTouchedPrimitives->Reset();
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// Make a fat sphere so that coherence will work for subsequent frames
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mRadius2 *= cache.FatCoeff;
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// mRadius2 = (sphere.mRadius * cache.FatCoeff)*(sphere.mRadius * cache.FatCoeff);
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// Update cache with query data (signature for cached faces)
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cache.Center = mCenter;
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cache.FatRadius2 = mRadius2;
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}
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}
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}
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else
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{
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// Here we don't use temporal coherence => do a normal query
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mTouchedPrimitives->Reset();
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}
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return FALSE;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Collision query for vanilla AABB trees.
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* \param cache [in/out] a sphere cache
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* \param sphere [in] collision sphere in world space
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* \param tree [in] AABB tree
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* \return true if success
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree)
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{
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// This is typically called for a scene tree, full of -AABBs-, not full of triangles.
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// So we don't really have "primitives" to deal with. Hence it doesn't work with
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// "FirstContact" + "TemporalCoherence".
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ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) );
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// Checkings
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if(!tree) return false;
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// Init collision query
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if(InitQuery(cache, sphere)) return true;
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// Perform collision query
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_Collide(tree);
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return true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Checks the sphere completely contains the box. In which case we can end the query sooner.
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* \param bc [in] box center
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* \param be [in] box extents
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* \return true if the sphere contains the whole box
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ BOOL SphereCollider::SphereContainsBox(const Point& bc, const Point& be)
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{
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// I assume if all 8 box vertices are inside the sphere, so does the whole box.
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// Sounds ok but maybe there's a better way?
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Point p;
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p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z+be.z; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE;
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p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE;
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p.x=bc.x+be.x; p.y=bc.y-be.y; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE;
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p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE;
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p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z-be.z; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE;
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p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE;
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p.x=bc.x+be.x; p.y=bc.y-be.y; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE;
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p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE;
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return TRUE;
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}
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#define TEST_BOX_IN_SPHERE(center, extents) \
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if(SphereContainsBox(center, extents)) \
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{ \
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/* Set contact status */ \
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mFlags |= OPC_CONTACT; \
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_Dump(node); \
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return; \
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Recursive collision query for normal AABB trees.
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* \param node [in] current collision node
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void SphereCollider::_Collide(const AABBCollisionNode* node)
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{
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// Perform Sphere-AABB overlap test
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if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
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TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)
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if(node->IsLeaf())
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{
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SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT)
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}
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else
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{
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_Collide(node->GetPos());
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if(ContactFound()) return;
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_Collide(node->GetNeg());
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Recursive collision query for normal AABB trees, without primitive tests.
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* \param node [in] current collision node
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void SphereCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)
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{
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// Perform Sphere-AABB overlap test
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if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
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TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)
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if(node->IsLeaf())
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{
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SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
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}
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else
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{
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_CollideNoPrimitiveTest(node->GetPos());
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if(ContactFound()) return;
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_CollideNoPrimitiveTest(node->GetNeg());
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Recursive collision query for quantized AABB trees.
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* \param node [in] current collision node
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void SphereCollider::_Collide(const AABBQuantizedNode* node)
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{
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// Dequantize box
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const QuantizedAABB& Box = node->mAABB;
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const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
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const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
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// Perform Sphere-AABB overlap test
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if(!SphereAABBOverlap(Center, Extents)) return;
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TEST_BOX_IN_SPHERE(Center, Extents)
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if(node->IsLeaf())
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{
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SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT)
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}
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else
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{
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_Collide(node->GetPos());
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if(ContactFound()) return;
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_Collide(node->GetNeg());
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Recursive collision query for quantized AABB trees, without primitive tests.
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* \param node [in] current collision node
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node)
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{
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// Dequantize box
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const QuantizedAABB& Box = node->mAABB;
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const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
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const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
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// Perform Sphere-AABB overlap test
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if(!SphereAABBOverlap(Center, Extents)) return;
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TEST_BOX_IN_SPHERE(Center, Extents)
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if(node->IsLeaf())
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{
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SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
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}
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else
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{
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_CollideNoPrimitiveTest(node->GetPos());
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if(ContactFound()) return;
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_CollideNoPrimitiveTest(node->GetNeg());
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Recursive collision query for no-leaf AABB trees.
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* \param node [in] current collision node
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void SphereCollider::_Collide(const AABBNoLeafNode* node)
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{
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// Perform Sphere-AABB overlap test
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if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
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TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)
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if(node->HasPosLeaf()) { SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
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else _Collide(node->GetPos());
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if(ContactFound()) return;
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if(node->HasNegLeaf()) { SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
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else _Collide(node->GetNeg());
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Recursive collision query for no-leaf AABB trees, without primitive tests.
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* \param node [in] current collision node
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void SphereCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)
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{
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// Perform Sphere-AABB overlap test
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if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
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TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)
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if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
|
|
else _CollideNoPrimitiveTest(node->GetPos());
|
|
|
|
if(ContactFound()) return;
|
|
|
|
if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
|
|
else _CollideNoPrimitiveTest(node->GetNeg());
|
|
}
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
* Recursive collision query for quantized no-leaf AABB trees.
|
|
* \param node [in] current collision node
|
|
*/
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
void SphereCollider::_Collide(const AABBQuantizedNoLeafNode* node)
|
|
{
|
|
// Dequantize box
|
|
const QuantizedAABB& Box = node->mAABB;
|
|
const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
|
|
const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
|
|
|
|
// Perform Sphere-AABB overlap test
|
|
if(!SphereAABBOverlap(Center, Extents)) return;
|
|
|
|
TEST_BOX_IN_SPHERE(Center, Extents)
|
|
|
|
if(node->HasPosLeaf()) { SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
|
|
else _Collide(node->GetPos());
|
|
|
|
if(ContactFound()) return;
|
|
|
|
if(node->HasNegLeaf()) { SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
|
|
else _Collide(node->GetNeg());
|
|
}
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
* Recursive collision query for quantized no-leaf AABB trees, without primitive tests.
|
|
* \param node [in] current collision node
|
|
*/
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node)
|
|
{
|
|
// Dequantize box
|
|
const QuantizedAABB& Box = node->mAABB;
|
|
const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
|
|
const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
|
|
|
|
// Perform Sphere-AABB overlap test
|
|
if(!SphereAABBOverlap(Center, Extents)) return;
|
|
|
|
TEST_BOX_IN_SPHERE(Center, Extents)
|
|
|
|
if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
|
|
else _CollideNoPrimitiveTest(node->GetPos());
|
|
|
|
if(ContactFound()) return;
|
|
|
|
if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
|
|
else _CollideNoPrimitiveTest(node->GetNeg());
|
|
}
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
* Recursive collision query for vanilla AABB trees.
|
|
* \param node [in] current collision node
|
|
*/
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
void SphereCollider::_Collide(const AABBTreeNode* node)
|
|
{
|
|
// Perform Sphere-AABB overlap test
|
|
Point Center, Extents;
|
|
node->GetAABB()->GetCenter(Center);
|
|
node->GetAABB()->GetExtents(Extents);
|
|
if(!SphereAABBOverlap(Center, Extents)) return;
|
|
|
|
if(node->IsLeaf() || SphereContainsBox(Center, Extents))
|
|
{
|
|
mFlags |= OPC_CONTACT;
|
|
mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives());
|
|
}
|
|
else
|
|
{
|
|
_Collide(node->GetPos());
|
|
_Collide(node->GetNeg());
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
* Constructor.
|
|
*/
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
HybridSphereCollider::HybridSphereCollider()
|
|
{
|
|
}
|
|
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
/**
|
|
* Destructor.
|
|
*/
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
HybridSphereCollider::~HybridSphereCollider()
|
|
{
|
|
}
|
|
|
|
bool HybridSphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds, const Matrix4x4* worldm)
|
|
{
|
|
// We don't want primitive tests here!
|
|
mFlags |= OPC_NO_PRIMITIVE_TESTS;
|
|
|
|
// Checkings
|
|
if(!Setup(&model)) return false;
|
|
|
|
// Init collision query
|
|
if(InitQuery(cache, sphere, worlds, worldm)) return true;
|
|
|
|
// Special case for 1-leaf trees
|
|
if(mCurrentModel && mCurrentModel->HasSingleNode())
|
|
{
|
|
// Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles
|
|
udword Nb = mIMesh->GetNbTriangles();
|
|
|
|
// Loop through all triangles
|
|
for(udword i=0;i<Nb;i++)
|
|
{
|
|
SPHERE_PRIM(i, OPC_CONTACT)
|
|
}
|
|
return true;
|
|
}
|
|
|
|
// Override destination array since we're only going to get leaf boxes here
|
|
mTouchedBoxes.Reset();
|
|
mTouchedPrimitives = &mTouchedBoxes;
|
|
|
|
// Now, do the actual query against leaf boxes
|
|
if(!model.HasLeafNodes())
|
|
{
|
|
if(model.IsQuantized())
|
|
{
|
|
const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
|
|
|
|
// Setup dequantization coeffs
|
|
mCenterCoeff = Tree->mCenterCoeff;
|
|
mExtentsCoeff = Tree->mExtentsCoeff;
|
|
|
|
// Perform collision query - we don't want primitive tests here!
|
|
_CollideNoPrimitiveTest(Tree->GetNodes());
|
|
}
|
|
else
|
|
{
|
|
const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
|
|
|
|
// Perform collision query - we don't want primitive tests here!
|
|
_CollideNoPrimitiveTest(Tree->GetNodes());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if(model.IsQuantized())
|
|
{
|
|
const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
|
|
|
|
// Setup dequantization coeffs
|
|
mCenterCoeff = Tree->mCenterCoeff;
|
|
mExtentsCoeff = Tree->mExtentsCoeff;
|
|
|
|
// Perform collision query - we don't want primitive tests here!
|
|
_CollideNoPrimitiveTest(Tree->GetNodes());
|
|
}
|
|
else
|
|
{
|
|
const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
|
|
|
|
// Perform collision query - we don't want primitive tests here!
|
|
_CollideNoPrimitiveTest(Tree->GetNodes());
|
|
}
|
|
}
|
|
|
|
// We only have a list of boxes so far
|
|
if(GetContactStatus())
|
|
{
|
|
// Reset contact status, since it currently only reflects collisions with leaf boxes
|
|
Collider::InitQuery();
|
|
|
|
// Change dest container so that we can use built-in overlap tests and get collided primitives
|
|
cache.TouchedPrimitives.Reset();
|
|
mTouchedPrimitives = &cache.TouchedPrimitives;
|
|
|
|
// Read touched leaf boxes
|
|
udword Nb = mTouchedBoxes.GetNbEntries();
|
|
const udword* Touched = mTouchedBoxes.GetEntries();
|
|
|
|
const LeafTriangles* LT = model.GetLeafTriangles();
|
|
const udword* Indices = model.GetIndices();
|
|
|
|
// Loop through touched leaves
|
|
while(Nb--)
|
|
{
|
|
const LeafTriangles& CurrentLeaf = LT[*Touched++];
|
|
|
|
// Each leaf box has a set of triangles
|
|
udword NbTris = CurrentLeaf.GetNbTriangles();
|
|
if(Indices)
|
|
{
|
|
const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
|
|
|
|
// Loop through triangles and test each of them
|
|
while(NbTris--)
|
|
{
|
|
udword TriangleIndex = *T++;
|
|
SPHERE_PRIM(TriangleIndex, OPC_CONTACT)
|
|
}
|
|
}
|
|
else
|
|
{
|
|
udword BaseIndex = CurrentLeaf.GetTriangleIndex();
|
|
|
|
// Loop through triangles and test each of them
|
|
while(NbTris--)
|
|
{
|
|
udword TriangleIndex = BaseIndex++;
|
|
SPHERE_PRIM(TriangleIndex, OPC_CONTACT)
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|