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Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes)

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Thanks a lot to Francisco León Nájera for the contribution!
This commit is contained in:
ejcoumans
2006-11-12 06:15:19 +00:00
parent 86c27a7c9d
commit a9172d8684
47 changed files with 14930 additions and 5 deletions
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180
Extras/GIMPACT/src/gim_trimesh_ray_collision.cpp Normal file
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/*
-----------------------------------------------------------------------------
This source file is part of GIMPACT Library.
For the latest info, see http://gimpact.sourceforge.net/
Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
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 GIMPACT-LICENSE-LGPL.TXT.
(2) The BSD-style license that is included with this library in
the file GIMPACT-LICENSE-BSD.TXT.
(3) The zlib/libpng license that is included with this library in
the file GIMPACT-LICENSE-ZLIB.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
GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-----------------------------------------------------------------------------
*/
#include "GIMPACT/gim_trimesh.h"
//! Trimesh Ray Collisions
/*!
\param trimesh
\param contact
\return 1 if the ray collides, else 0
*/
int gim_trimesh_ray_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)
{
GDYNAMIC_ARRAY collision_result;
GIM_CREATE_BOXQUERY_LIST(collision_result);
if(trimesh->m_aabbset)
{
gim_aabbset_ray_collision(origin,dir,tmax,trimesh->m_aabbset,
&collision_result);
}
else if(gim_trimesh_get_bound_method(trimesh)==G_TRIMESH_BOUND_AABB_TREE)
{
vec3f torigin, tdir;
gim_trimesh_data_get(trimesh->m_trimesh_data_handle,
&trimesh->m_unlocked_trimesh_data);
MAT_DOT_VEC_3X4(torigin,trimesh->m_inv_transform,dir);
MAT_DOT_VEC_3X3(tdir,trimesh->m_inv_transform,dir);
gim_aabbtree_ray_collision(
torigin,tdir, tmax,
&trimesh->m_unlocked_trimesh_data->m_bv_tree, &collision_result);
trimesh->m_unlocked_trimesh_data = 0;
}
if(collision_result.m_size==0)
{
GIM_DYNARRAY_DESTROY(collision_result);
return 0;
}
//collide triangles
GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);
GIM_TRIANGLE_DATA tridata;
vec3f pout;
GREAL tparam,u,v;
char does_intersect;
gim_trimesh_locks_work_data(trimesh);
for(unsigned int i=0;i<collision_result.m_size;i++)
{
gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);
RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],tridata.m_planes.m_planes[0],pout,u,v,tparam,tmax,does_intersect);
if(does_intersect)
{
contact->tparam = tparam;
contact->u = u;
contact->v = v;
contact->m_face_id = boxesresult[i];
VEC_COPY(contact->m_point,pout);
VEC_COPY(contact->m_normal,tridata.m_planes.m_planes[0]);
gim_trimesh_unlocks_work_data(trimesh);
GIM_DYNARRAY_DESTROY(collision_result);
return 1;
}
}
gim_trimesh_unlocks_work_data(trimesh);
GIM_DYNARRAY_DESTROY(collision_result);
return 0;//no collisiion
}
//! Trimesh Ray Collisions closest
/*!
Find the closest primitive collided by the ray
\param trimesh
\param contact
\return 1 if the ray collides, else 0
*/
int gim_trimesh_ray_closest_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)
{
GDYNAMIC_ARRAY collision_result;
GIM_CREATE_BOXQUERY_LIST(collision_result);
if(trimesh->m_aabbset)
{
gim_aabbset_ray_collision(origin,dir,tmax,trimesh->m_aabbset,
&collision_result);
}
else if(gim_trimesh_get_bound_method(trimesh)==G_TRIMESH_BOUND_AABB_TREE)
{
vec3f torigin, tdir;
gim_trimesh_data_get(trimesh->m_trimesh_data_handle,
&trimesh->m_unlocked_trimesh_data);
MAT_DOT_VEC_3X4(torigin,trimesh->m_inv_transform,dir);
MAT_DOT_VEC_3X3(tdir,trimesh->m_inv_transform,dir);
gim_aabbtree_ray_collision(
torigin,tdir, tmax,
&trimesh->m_unlocked_trimesh_data->m_bv_tree, &collision_result);
trimesh->m_unlocked_trimesh_data = 0;
}
if(collision_result.m_size==0)
{
GIM_DYNARRAY_DESTROY(collision_result);
return 0;
}
//collide triangles
GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);
GIM_TRIANGLE_DATA tridata;
vec3f pout;
GREAL tparam,u,v;
char does_intersect;
contact->tparam = tmax + 0.1f;
gim_trimesh_locks_work_data(trimesh);
for(unsigned int i=0;i<collision_result.m_size;i++)
{
gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);
RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],tridata.m_planes.m_planes[0],pout,u,v,tparam,tmax,does_intersect);
if(does_intersect && (tparam < contact->tparam))
{
contact->tparam = tparam;
contact->u = u;
contact->v = v;
contact->m_face_id = boxesresult[i];
VEC_COPY(contact->m_point,pout);
VEC_COPY(contact->m_normal,tridata.m_planes.m_planes[0]);
}
}
gim_trimesh_unlocks_work_data(trimesh);
GIM_DYNARRAY_DESTROY(collision_result);
if(contact->tparam > tmax) return 0;
return 1;
}