RomkaZVO/FC1
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

123

Browse Source
This commit is contained in:
romkazvo
2023-08-07 19:29:24 +08:00
commit 34d6c5d489
4832 changed files with 1389451 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

93
CryPhysics/unprojectionchecks.h Normal file
View File

@@ -0,0 +1,93 @@
#ifndef unprojectionchecks_h
#define unprojectionchecks_h
struct unprojection_mode {
unprojection_mode() { bCheckContact=0; }
int imode;
vectorf dir; // direction or rotation axis
vectorf center; // center of rotation
float vel; // linear or angular velocity
float tmax; // maximum unprojection length (not time)
float minPtDist; // tolerance value
int bCheckContact;
matrix3x3f R0;
vectorf offset0;
};
typedef int (*unprojection_check)(unprojection_mode*, const primitive*,int,const primitive*,int, contact*, geom_contact_area*);
int default_unprojection(unprojection_mode*, const primitive*,int,const primitive*,int, contact*, geom_contact_area*);
int tri_tri_lin_unprojection(unprojection_mode *pmode, const triangle *ptri1,int iFeature1,const triangle *ptri2,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int tri_box_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const box *pbox,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int box_tri_lin_unprojection(unprojection_mode *pmode, const box *pbox,int iFeature1,const triangle *ptri,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int tri_cylinder_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const cylinder *pcyl,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int cylinder_tri_lin_unprojection(unprojection_mode *pmode, const cylinder *pcyl,int iFeature1,const triangle *ptri,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int tri_sphere_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const sphere *psphere,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int sphere_tri_lin_unprojection(unprojection_mode *pmode, const sphere *psphere,int iFeature1,const triangle *ptri,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int tri_ray_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const ray *pray,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int ray_tri_lin_unprojection(unprojection_mode *pmode, const ray *pray,int iFeature1,const triangle *ptri,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int tri_plane_lin_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const plane *pplane,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int plane_tri_lin_unprojection(unprojection_mode *pmode, const plane *pplane,int iFeature1,const triangle *ptri,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int box_box_lin_unprojection(unprojection_mode *pmode, const box *pbox1,int iFeature1, const box *pbox2,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int box_cylinder_lin_unprojection(unprojection_mode *pmode, const box *pbox,int iFeature1,const cylinder *pcyl,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int cylinder_box_lin_unprojection(unprojection_mode *pmode, const cylinder *pcyl,int iFeature1,const box *pbox,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int box_sphere_lin_unprojection(unprojection_mode *pmode, const box *pbox,int iFeature1,const sphere *psph,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int sphere_box_lin_unprojection(unprojection_mode *pmode, const sphere *psph,int iFeature1,const box *pbox,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int cyl_cyl_lin_unprojection(unprojection_mode *pmode, const cylinder *pcyl1,int iFeature1,const cylinder *pcyl2,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int cylinder_sphere_lin_unprojection(unprojection_mode *pmode, const cylinder *pbox,int iFeature1,const sphere *psph,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int sphere_cylinder_lin_unprojection(unprojection_mode *pmode, const sphere *psph,int iFeature1,const cylinder *pcyl,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int sphere_sphere_lin_unprojection(unprojection_mode *pmode, const sphere *psph1,int iFeature1, const sphere *psph2,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int tri_tri_rot_unprojection(unprojection_mode *pmode, const triangle *ptri1,int iFeature1,const triangle *ptri2,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int tri_ray_rot_unprojection(unprojection_mode *pmode, const triangle *ptri,int iFeature1,const ray *pray,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int ray_tri_rot_unprojection(unprojection_mode *pmode, const ray *pray,int iFeature1,const triangle *ptri,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int cyl_ray_rot_unprojection(unprojection_mode *pmode, const cylinder *pcyl,int iFeature1,const ray *pray,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int ray_cyl_rot_unprojection(unprojection_mode *pmode, const ray *pray,int iFeature1,const cylinder *pcyl,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int box_ray_rot_unprojection(unprojection_mode *pmode, const box *pbox,int iFeature1, const ray *pray,int iFeature2,
contact *pcontact, geom_contact_area *parea);
int ray_box_rot_unprojection(unprojection_mode *pmode, const ray *pray,int iFeature1, const box *pbox,int iFeature2,
contact *pcontact, geom_contact_area *parea);
class CUnprojectionChecker {
public:
CUnprojectionChecker();
int Check(unprojection_mode *pmode, int type1,int type2, const primitive *prim1,int iFeature1,const primitive *prim2,int iFeature2,
contact *pcontact, geom_contact_area *parea=0)
{
return table[pmode->imode][type1][type2](pmode, prim1,iFeature1,prim2,iFeature2, pcontact, parea);
}
int CheckExists(int imode, int type1,int type2) {
return table[imode][type1][type2]!=default_unprojection;
}
unprojection_check table[2][NPRIMS][NPRIMS];
};
extern CUnprojectionChecker g_Unprojector;
#endif