/*************************************************************************
* *
* 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. *
* *
*************************************************************************/
/*
some useful collision utility stuff.
*/
#ifndef _ODE_COLLISION_UTIL_H_
#define _ODE_COLLISION_UTIL_H_
#include <ode/common.h>
#include <ode/contact.h>
#include <ode/odemath.h>
#include <ode/rotation.h>
// given a pointer `p' to a dContactGeom, return the dContactGeom at
// p + skip bytes.
#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
// if the spheres (p1,r1) and (p2,r2) collide, set the contact `c' and
// return 1, else return 0.
int dCollideSpheres (dVector3 p1, dReal r1,
dVector3 p2, dReal r2, dContactGeom *c);
// given two lines
// qa = pa + alpha* ua
// qb = pb + beta * ub
// where pa,pb are two points, ua,ub are two unit length vectors, and alpha,
// beta go from [-inf,inf], return alpha and beta such that qa and qb are
// as close as possible
void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
const dVector3 pb, const dVector3 ub,
dReal *alpha, dReal *beta);
// given a line segment p1-p2 and a box (center 'c', rotation 'R', side length
// vector 'side'), compute the points of closest approach between the box
// and the line. return these points in 'lret' (the point on the line) and
// 'bret' (the point on the box). if the line actually penetrates the box
// then the solution is not unique, but only one solution will be returned.
// in this case the solution points will coincide.
void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
const dVector3 c, const dMatrix3 R,
const dVector3 side,
dVector3 lret, dVector3 bret);
// 20 Apr 2004
// Start code by Nguyen Binh
int dClipEdgeToPlane(dVector3 &vEpnt0, dVector3 &vEpnt1, const dVector4& plPlane);
// clip polygon with plane and generate new polygon points
void dClipPolyToPlane(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane );
void dClipPolyToCircle(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane ,dReal fRadius);
// Some vector math
inline void dVector3Subtract(const dVector3& a,const dVector3& b,dVector3& c)
{
c[0] = a[0] - b[0];
c[1] = a[1] - b[1];
c[2] = a[2] - b[2];
}
// Some vector math
inline void dVector3Scale(dVector3& a,dReal nScale)
{
a[0] = dMUL(a[0],nScale);
a[1] = dMUL(a[1],nScale);
a[2] = dMUL(a[2],nScale);
}
inline void dVector3Add(const dVector3& a,const dVector3& b,dVector3& c)
{
c[0] = a[0] + b[0];
c[1] = a[1] + b[1];
c[2] = a[2] + b[2];
}
inline void dVector3Copy(const dVector3& a,dVector3& c)
{
c[0] = a[0];
c[1] = a[1];
c[2] = a[2];
}
inline void dVector3Cross(const dVector3& a,const dVector3& b,dVector3& c)
{
dCROSS(c,=,a,b);
}
inline dReal dVector3Length(const dVector3& a)
{
return dSqrt(dMUL(a[0],a[0])+dMUL(a[1],a[1])+dMUL(a[2],a[2]));
}
inline dReal dVector3Dot(const dVector3& a,const dVector3& b)
{
return dDOT(a,b);
}
inline void dVector3Inv(dVector3& a)
{
a[0] = -a[0];
a[1] = -a[1];
a[2] = -a[2];
}
inline dReal dVector3Length2(const dVector3& a)
{
return (dMUL(a[0],a[0])+dMUL(a[1],a[1])+dMUL(a[2],a[2]));
}
inline void dMat3GetCol(const dMatrix3& m,const int col, dVector3& v)
{
v[0] = m[col + 0];
v[1] = m[col + 4];
v[2] = m[col + 8];
}
inline void dVector3CrossMat3Col(const dMatrix3& m,const int col,const dVector3& v,dVector3& r)
{
r[0] = dMUL(v[1],m[2*4 + col]) - dMUL(v[2],m[1*4 + col]);
r[1] = dMUL(v[2],m[0*4 + col]) - dMUL(v[0],m[2*4 + col]);
r[2] = dMUL(v[0],m[1*4 + col]) - dMUL(v[1],m[0*4 + col]);
}
inline void dMat3ColCrossVector3(const dMatrix3& m,const int col,const dVector3& v,dVector3& r)
{
r[0] = dMUL(v[2],m[1*4 + col]) - dMUL(v[1],m[2*4 + col]);
r[1] = dMUL(v[0],m[2*4 + col]) - dMUL(v[2],m[0*4 + col]);
r[2] = dMUL(v[1],m[0*4 + col]) - dMUL(v[0],m[1*4 + col]);
}
inline void dMultiplyMat3Vec3(const dMatrix3& m,const dVector3& v, dVector3& r)
{
dMULTIPLY0_331(r,m,v);
}
inline dReal dPointPlaneDistance(const dVector3& point,const dVector4& plane)
{
return (dMUL(plane[0],point[0]) + dMUL(plane[1],point[1]) + dMUL(plane[2],point[2]) + plane[3]);
}
inline void dConstructPlane(const dVector3& normal,const dReal& distance, dVector4& plane)
{
plane[0] = normal[0];
plane[1] = normal[1];
plane[2] = normal[2];
plane[3] = distance;
}
inline void dMatrix3Copy(const dReal* source,dMatrix3& dest)
{
dest[0] = source[0];
dest[1] = source[1];
dest[2] = source[2];
dest[4] = source[4];
dest[5] = source[5];
dest[6] = source[6];
dest[8] = source[8];
dest[9] = source[9];
dest[10]= source[10];
}
inline dReal dMatrix3Det( const dMatrix3& mat )
{
dReal det;
det = dMUL(mat[0],( dMUL(mat[5],mat[10]) - dMUL(mat[9],mat[6]) ))
- dMUL(mat[1],( dMUL(mat[4],mat[10]) - dMUL(mat[8],mat[6]) ))
+ dMUL(mat[2],( dMUL(mat[4],mat[9]) - dMUL(mat[8],mat[5]) ));
return( det );
}
inline void dMatrix3Inv( const dMatrix3& ma, dMatrix3& dst )
{
dReal det = dMatrix3Det( ma );
if ( dFabs( det ) < REAL(0.0005) )
{
dRSetIdentity( dst );
return;
}
dst[0] = dMUL(ma[5],ma[10]) - dDIV(dMUL(ma[6],ma[9]),det);
dst[1] = -dDIV(( dMUL(ma[1],ma[10]) - dMUL(ma[9],ma[2]) ),det);
dst[2] = dMUL(ma[1],ma[6]) - dDIV(dMUL(ma[5],ma[2]),det);
dst[4] = -dDIV(( dMUL(ma[4],ma[10]) - dMUL(ma[6],ma[8]) ),det);
dst[5] = dMUL(ma[0],ma[10]) - dDIV(dMUL(ma[8],ma[2]),det);
dst[6] = -dDIV(( dMUL(ma[0],ma[6]) - dMUL(ma[4],ma[2]) ),det);
dst[8] = dMUL(ma[4],ma[9]) - dDIV(dMUL(ma[8],ma[5]),det);
dst[9] = -dDIV(( dMUL(ma[0],ma[9]) - dMUL(ma[8],ma[1]) ),det);
dst[10] = dMUL(ma[0],ma[5]) - dDIV(dMUL(ma[1],ma[4]),det);
}
inline void dQuatTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest)
{
// Nguyen Binh : this code seem to be the fastest.
dReal x0 = dMUL(source[0],quat[0]) + dMUL(source[2],quat[2]) - dMUL(source[1],quat[3]);
dReal x1 = dMUL(source[1],quat[0]) + dMUL(source[0],quat[3]) - dMUL(source[2],quat[1]);
dReal x2 = dMUL(source[2],quat[0]) + dMUL(source[1],quat[1]) - dMUL(source[0],quat[2]);
dReal x3 = dMUL(source[0],quat[1]) + dMUL(source[1],quat[2]) + dMUL(source[2],quat[3]);
dest[0] = dMUL(quat[0],x0) + dMUL(quat[1],x3) + dMUL(quat[2],x2) - dMUL(quat[3],x1);
dest[1] = dMUL(quat[0],x1) + dMUL(quat[2],x3) + dMUL(quat[3],x0) - dMUL(quat[1],x2);
dest[2] = dMUL(quat[0],x2) + dMUL(quat[3],x3) + dMUL(quat[1],x1) - dMUL(quat[2],x0);
/*
// nVidia SDK implementation
dVector3 uv, uuv;
dVector3 qvec;
qvec[0] = quat[1];
qvec[1] = quat[2];
qvec[2] = quat[3];
dVector3Cross(qvec,source,uv);
dVector3Cross(qvec,uv,uuv);
dVector3Scale(uv,REAL(2.0)*quat[0]);
dVector3Scale(uuv,REAL(2.0));
dest[0] = source[0] + uv[0] + uuv[0];
dest[1] = source[1] + uv[1] + uuv[1];
dest[2] = source[2] + uv[2] + uuv[2];
*/
}
inline void dQuatInvTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest)
{
dReal norm = dMUL(quat[0],quat[0]) + dMUL(quat[1],quat[1]) + dMUL(quat[2],quat[2]) + dMUL(quat[3],quat[3]);
if (norm > REAL(0.0))
{
dQuaternion invQuat;
invQuat[0] = dDIV(quat[0],norm);
invQuat[1] = -dDIV(quat[1],norm);
invQuat[2] = -dDIV(quat[2],norm);
invQuat[3] = -dDIV(quat[3],norm);
dQuatTransform(invQuat,source,dest);
}
else
{
// Singular -> return identity
dVector3Copy(source,dest);
}
}
inline void dGetEulerAngleFromRot(const dMatrix3& mRot,dReal& rX,dReal& rY,dReal& rZ)
{
rY = asin(mRot[0 * 4 + 2]);
if (rY < dPI /2)
{
if (rY > -dPI /2)
{
rX = atan2(-mRot[1*4 + 2], mRot[2*4 + 2]);
rZ = atan2(-mRot[0*4 + 1], mRot[0*4 + 0]);
}
else
{
// not unique
rX = -atan2(mRot[1*4 + 0], mRot[1*4 + 1]);
rZ = REAL(0.0);
}
}
else
{
// not unique
rX = atan2(mRot[1*4 + 0], mRot[1*4 + 1]);
rZ = REAL(0.0);
}
}
inline void dQuatInv(const dQuaternion& source, dQuaternion& dest)
{
dReal norm = dMUL(source[0],source[0]) + dMUL(source[1],source[1]) + dMUL(source[2],source[2]) + dMUL(source[3],source[3]);
if (norm > REAL(0.0f))
{
dest[0] = dDIV(source[0],norm);
dest[1] = -dDIV(source[1],norm);
dest[2] = -dDIV(source[2],norm);
dest[3] = -dDIV(source[3],norm);
}
else
{
// Singular -> return identity
dest[0] = REAL(1.0);
dest[1] = REAL(0.0);
dest[2] = REAL(0.0);
dest[3] = REAL(0.0);
}
}
#if 1
// Fetches a contact
inline dContactGeom* SAFECONTACT(int /*Flags*/, dContactGeom* Contacts, int Index, int Stride){
return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
}
#endif
#endif