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19
thirdparty/ode-0.16.5/GIMPACT/src/Makefile.am
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thirdparty/ode-0.16.5/GIMPACT/src/Makefile.am
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638
thirdparty/ode-0.16.5/GIMPACT/src/Makefile.in
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.NOEXPORT:
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519
thirdparty/ode-0.16.5/GIMPACT/src/gim_boxpruning.cpp
vendored
Normal file
519
thirdparty/ode-0.16.5/GIMPACT/src/gim_boxpruning.cpp
vendored
Normal file
@@ -0,0 +1,519 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "GIMPACT/gim_boxpruning.h"
|
||||
|
||||
|
||||
|
||||
//! Allocate memory for all aabb set.
|
||||
void gim_aabbset_alloc(GIM_AABB_SET * aabbset, GUINT32 count)
|
||||
{
|
||||
aabbset->m_count = count;
|
||||
aabbset->m_boxes = (aabb3f *)gim_alloc(sizeof(aabb3f)*count);
|
||||
|
||||
if(count<GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES)
|
||||
{
|
||||
aabbset->m_maxcoords = 0;
|
||||
aabbset->m_sorted_mincoords = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
aabbset->m_maxcoords = (GUINT32 *)gim_alloc(sizeof(GUINT32)*aabbset->m_count );
|
||||
aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count);
|
||||
}
|
||||
aabbset->m_shared = 0;
|
||||
INVALIDATE_AABB(aabbset->m_global_bound);
|
||||
}
|
||||
|
||||
//! Destroys the aabb set.
|
||||
void gim_aabbset_destroy(GIM_AABB_SET * aabbset)
|
||||
{
|
||||
aabbset->m_count = 0;
|
||||
if(aabbset->m_shared==0)
|
||||
{
|
||||
gim_free(aabbset->m_boxes,0);
|
||||
gim_free(aabbset->m_maxcoords,0);
|
||||
gim_free(aabbset->m_sorted_mincoords,0);
|
||||
}
|
||||
aabbset->m_boxes = 0;
|
||||
aabbset->m_sorted_mincoords = 0;
|
||||
aabbset->m_maxcoords = 0;
|
||||
}
|
||||
|
||||
void gim_aabbset_calc_global_bound(GIM_AABB_SET * aabbset)
|
||||
{
|
||||
aabb3f * paabb = aabbset->m_boxes;
|
||||
aabb3f * globalbox = &aabbset->m_global_bound;
|
||||
AABB_COPY((*globalbox),(*paabb));
|
||||
|
||||
GUINT32 count = aabbset->m_count-1;
|
||||
paabb++;
|
||||
while(count)
|
||||
{
|
||||
MERGEBOXES(*globalbox,*paabb)
|
||||
paabb++;
|
||||
count--;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//! Sorts the boxes for box prunning.
|
||||
/*!
|
||||
1) find the integer representation of the aabb coords
|
||||
2) Sorts the min coords
|
||||
3) Calcs the global bound
|
||||
\pre aabbset must be allocated. And the boxes must be already set.
|
||||
\param aabbset
|
||||
\param calc_global_bound If 1 , calcs the global bound
|
||||
\post If aabbset->m_sorted_mincoords == 0, then it allocs the sorted coordinates
|
||||
*/
|
||||
void gim_aabbset_sort(GIM_AABB_SET * aabbset, char calc_global_bound)
|
||||
{
|
||||
if(aabbset->m_sorted_mincoords == 0)
|
||||
{//allocate
|
||||
aabbset->m_maxcoords = (GUINT32 *)gim_alloc(sizeof(GUINT32)*aabbset->m_count );
|
||||
aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count);
|
||||
}
|
||||
|
||||
GUINT32 i, count = aabbset->m_count;
|
||||
aabb3f * paabb = aabbset->m_boxes;
|
||||
GUINT32 * maxcoords = aabbset->m_maxcoords;
|
||||
GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords;
|
||||
|
||||
if(count<860)//Calibrated on a Pentium IV
|
||||
{
|
||||
//Sort by quick sort
|
||||
//Calculate keys
|
||||
for(i=0;i<count;i++)
|
||||
{
|
||||
GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(paabb[i].maxX,paabb[i].maxZ,maxcoords[i]);
|
||||
GIM_CONVERT_VEC3F_GUINT_XZ(paabb[i].minX,paabb[i].minZ,sorted_tokens[i].m_key);
|
||||
sorted_tokens[i].m_value = i;
|
||||
}
|
||||
GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , sorted_tokens, count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);
|
||||
}
|
||||
else
|
||||
{
|
||||
//Sort by radix sort
|
||||
GIM_RSORT_TOKEN * unsorted = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN )*count);
|
||||
//Calculate keys
|
||||
for(i=0;i<count;i++)
|
||||
{
|
||||
GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(paabb[i].maxX,paabb[i].maxZ,maxcoords[i]);
|
||||
GIM_CONVERT_VEC3F_GUINT_XZ(paabb[i].minX,paabb[i].minZ,unsorted[i].m_key);
|
||||
unsorted[i].m_value = i;
|
||||
}
|
||||
GIM_RADIX_SORT_RTOKENS(unsorted,sorted_tokens,count);
|
||||
gim_free(unsorted,0);
|
||||
}
|
||||
|
||||
if(calc_global_bound) gim_aabbset_calc_global_bound(aabbset);
|
||||
}
|
||||
|
||||
//utility macros
|
||||
|
||||
/*#define PUSH_PAIR(i,j,pairset)\
|
||||
{\
|
||||
GIM_PAIR _pair={i,j};\
|
||||
GIM_DYNARRAY_PUSH_ITEM(GIM_PAIR,pairset,_pair);\
|
||||
}*/
|
||||
|
||||
#define PUSH_PAIR(i,j,pairset)\
|
||||
{\
|
||||
GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\
|
||||
GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\
|
||||
_pair->m_index1 = i;\
|
||||
_pair->m_index2 = j;\
|
||||
}
|
||||
|
||||
#define PUSH_PAIR_INV(i,j,pairset)\
|
||||
{\
|
||||
GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\
|
||||
GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\
|
||||
_pair->m_index1 = j;\
|
||||
_pair->m_index2 = i;\
|
||||
}
|
||||
|
||||
#define FIND_OVERLAPPING_FOWARD(\
|
||||
curr_index,\
|
||||
test_count,\
|
||||
test_aabb,\
|
||||
max_coord_uint,\
|
||||
sorted_tokens,\
|
||||
aabbarray,\
|
||||
pairset,\
|
||||
push_pair_macro)\
|
||||
{\
|
||||
GUINT32 _i = test_count;\
|
||||
char _intersected;\
|
||||
GIM_RSORT_TOKEN * _psorted_tokens = sorted_tokens;\
|
||||
while(_i>0 && max_coord_uint >= _psorted_tokens->m_key)\
|
||||
{\
|
||||
AABBCOLLISION(_intersected,test_aabb,aabbarray[_psorted_tokens->m_value]);\
|
||||
if(_intersected)\
|
||||
{\
|
||||
push_pair_macro(curr_index, _psorted_tokens->m_value,pairset);\
|
||||
}\
|
||||
_psorted_tokens++;\
|
||||
_i--;\
|
||||
}\
|
||||
}
|
||||
|
||||
//! log(N) Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
|
||||
/*!
|
||||
\pre aabbset must be allocated and sorted, the boxes must be already set.
|
||||
\param aabbset Must be sorted. Global bound isn't required
|
||||
\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
|
||||
*/
|
||||
void gim_aabbset_self_intersections_sorted(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)
|
||||
{
|
||||
collision_pairs->m_size = 0;
|
||||
GUINT32 count = aabbset->m_count;
|
||||
aabb3f * paabb = aabbset->m_boxes;
|
||||
GUINT32 * maxcoords = aabbset->m_maxcoords;
|
||||
GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords;
|
||||
aabb3f test_aabb;
|
||||
while(count>1)
|
||||
{
|
||||
///current cache variables
|
||||
GUINT32 curr_index = sorted_tokens->m_value;
|
||||
GUINT32 max_coord_uint = maxcoords[curr_index];
|
||||
AABB_COPY(test_aabb,paabb[curr_index]);
|
||||
|
||||
///next pairs
|
||||
sorted_tokens++;
|
||||
count--;
|
||||
FIND_OVERLAPPING_FOWARD( curr_index, count, test_aabb, max_coord_uint, sorted_tokens , paabb, (*collision_pairs),PUSH_PAIR);
|
||||
}
|
||||
}
|
||||
|
||||
//! NxN Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
|
||||
/*!
|
||||
\pre aabbset must be allocated, the boxes must be already set.
|
||||
\param aabbset Global bound isn't required. Doen't need to be sorted.
|
||||
\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
|
||||
*/
|
||||
void gim_aabbset_self_intersections_brute_force(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)
|
||||
{
|
||||
collision_pairs->m_size = 0;
|
||||
GUINT32 i,j;
|
||||
GUINT32 count = aabbset->m_count;
|
||||
aabb3f * paabb = aabbset->m_boxes;
|
||||
char intersected;
|
||||
for (i=0;i< count-1 ;i++ )
|
||||
{
|
||||
for (j=i+1;j<count ;j++ )
|
||||
{
|
||||
AABBCOLLISION(intersected,paabb[i],paabb[j]);
|
||||
if(intersected)
|
||||
{
|
||||
PUSH_PAIR(i,j,(*collision_pairs));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//! log(N) Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
|
||||
/*!
|
||||
\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.
|
||||
\param aabbset1 Must be sorted, Global bound is required.
|
||||
\param aabbset2 Must be sorted, Global bound is required.
|
||||
\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
|
||||
*/
|
||||
void gim_aabbset_bipartite_intersections_sorted(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)
|
||||
{
|
||||
char intersected;
|
||||
collision_pairs->m_size = 0;
|
||||
|
||||
AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound);
|
||||
if(intersected == 0) return;
|
||||
|
||||
GUINT32 count1 = aabbset1->m_count;
|
||||
aabb3f * paabb1 = aabbset1->m_boxes;
|
||||
GUINT32 * maxcoords1 = aabbset1->m_maxcoords;
|
||||
GIM_RSORT_TOKEN * sorted_tokens1 = aabbset1->m_sorted_mincoords;
|
||||
|
||||
GUINT32 count2 = aabbset2->m_count;
|
||||
aabb3f * paabb2 = aabbset2->m_boxes;
|
||||
GUINT32 * maxcoords2 = aabbset2->m_maxcoords;
|
||||
GIM_RSORT_TOKEN * sorted_tokens2 = aabbset2->m_sorted_mincoords;
|
||||
|
||||
GUINT32 curr_index;
|
||||
|
||||
GUINT32 max_coord_uint;
|
||||
aabb3f test_aabb;
|
||||
|
||||
//Classify boxes
|
||||
//Find Set intersection
|
||||
aabb3f int_abbb;
|
||||
BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb);
|
||||
|
||||
//Clasify set 1
|
||||
GIM_RSORT_TOKEN * classified_tokens1 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count1);
|
||||
GUINT32 i,classified_count1 = 0,classified_count2 = 0;
|
||||
|
||||
|
||||
for (i=0;i<count1;i++ )
|
||||
{
|
||||
curr_index = sorted_tokens1[i].m_value;
|
||||
AABBCOLLISION(intersected,paabb1[curr_index],int_abbb);
|
||||
if(intersected)
|
||||
{
|
||||
classified_tokens1[classified_count1] = sorted_tokens1[i];
|
||||
classified_count1++;
|
||||
}
|
||||
}
|
||||
|
||||
if(classified_count1==0)
|
||||
{
|
||||
gim_free(classified_tokens1 ,0);
|
||||
return; // no pairs
|
||||
}
|
||||
|
||||
//Clasify set 2
|
||||
GIM_RSORT_TOKEN * classified_tokens2 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count2);
|
||||
|
||||
for (i=0;i<count2;i++ )
|
||||
{
|
||||
curr_index = sorted_tokens2[i].m_value;
|
||||
AABBCOLLISION(intersected,paabb2[curr_index],int_abbb);
|
||||
if(intersected)
|
||||
{
|
||||
classified_tokens2[classified_count2] = sorted_tokens2[i];
|
||||
classified_count2++;
|
||||
}
|
||||
}
|
||||
|
||||
if(classified_count2==0)
|
||||
{
|
||||
gim_free(classified_tokens1 ,0);
|
||||
gim_free(classified_tokens2 ,0);
|
||||
return; // no pairs
|
||||
}
|
||||
|
||||
sorted_tokens1 = classified_tokens1;
|
||||
sorted_tokens2 = classified_tokens2;
|
||||
|
||||
while(classified_count1>0&&classified_count2>0)
|
||||
{
|
||||
if(sorted_tokens1->m_key <= sorted_tokens2->m_key)
|
||||
{
|
||||
///current cache variables
|
||||
curr_index = sorted_tokens1->m_value;
|
||||
max_coord_uint = maxcoords1[curr_index];
|
||||
AABB_COPY(test_aabb,paabb1[curr_index]);
|
||||
///next pairs
|
||||
sorted_tokens1++;
|
||||
classified_count1--;
|
||||
FIND_OVERLAPPING_FOWARD( curr_index, classified_count2, test_aabb, max_coord_uint, sorted_tokens2 , paabb2, (*collision_pairs), PUSH_PAIR);
|
||||
}
|
||||
else ///Switch test
|
||||
{
|
||||
///current cache variables
|
||||
curr_index = sorted_tokens2->m_value;
|
||||
max_coord_uint = maxcoords2[curr_index];
|
||||
AABB_COPY(test_aabb,paabb2[curr_index]);
|
||||
///next pairs
|
||||
sorted_tokens2++;
|
||||
classified_count2--;
|
||||
FIND_OVERLAPPING_FOWARD( curr_index, classified_count1, test_aabb, max_coord_uint, sorted_tokens1 , paabb1, (*collision_pairs), PUSH_PAIR_INV );
|
||||
}
|
||||
}
|
||||
gim_free(classified_tokens1 ,0);
|
||||
gim_free(classified_tokens2 ,0);
|
||||
}
|
||||
|
||||
//! NxM Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
|
||||
/*!
|
||||
\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.
|
||||
\param aabbset1 Must be sorted, Global bound is required.
|
||||
\param aabbset2 Must be sorted, Global bound is required.
|
||||
\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
|
||||
*/
|
||||
void gim_aabbset_bipartite_intersections_brute_force(GIM_AABB_SET * aabbset1,GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)
|
||||
{
|
||||
char intersected;
|
||||
collision_pairs->m_size = 0;
|
||||
AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound);
|
||||
if(intersected == 0) return;
|
||||
|
||||
aabb3f int_abbb;
|
||||
//Find Set intersection
|
||||
BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb);
|
||||
//Clasify set 1
|
||||
GUINT32 i,j;
|
||||
GUINT32 classified_count = 0;
|
||||
|
||||
GUINT32 count = aabbset1->m_count;
|
||||
aabb3f * paabb1 = aabbset1->m_boxes;
|
||||
aabb3f * paabb2 = aabbset2->m_boxes;
|
||||
|
||||
GUINT32 * classified = (GUINT32 *) gim_alloc(sizeof(GUINT32)*count);
|
||||
|
||||
for (i=0;i<count;i++ )
|
||||
{
|
||||
AABBCOLLISION(intersected,paabb1[i],int_abbb);
|
||||
if(intersected)
|
||||
{
|
||||
classified[classified_count] = i;
|
||||
classified_count++;
|
||||
}
|
||||
}
|
||||
|
||||
if(classified_count==0)
|
||||
{
|
||||
gim_free(classified,0);
|
||||
return; // no pairs
|
||||
}
|
||||
|
||||
//intesect set2
|
||||
count = aabbset2->m_count;
|
||||
for (i=0;i<count;i++)
|
||||
{
|
||||
AABBCOLLISION(intersected,paabb2[i],int_abbb);
|
||||
if(intersected)
|
||||
{
|
||||
for (j=0;j<classified_count;j++)
|
||||
{
|
||||
AABBCOLLISION(intersected,paabb2[i],paabb1[classified[j]]);
|
||||
if(intersected)
|
||||
{
|
||||
PUSH_PAIR(classified[j],i,(*collision_pairs));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
gim_free(classified,0);
|
||||
}
|
||||
|
||||
|
||||
//! Initalizes the set. Sort Boxes if needed.
|
||||
/*!
|
||||
\pre aabbset must be allocated. And the boxes must be already set.
|
||||
\post If the set has less of GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES boxes, only calcs the global box,
|
||||
else it Sorts the entire set( Only applicable for large sets)
|
||||
*/
|
||||
void gim_aabbset_update(GIM_AABB_SET * aabbset)
|
||||
{
|
||||
if(aabbset->m_count < GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES)
|
||||
{//Brute force approach
|
||||
gim_aabbset_calc_global_bound(aabbset);
|
||||
}
|
||||
else
|
||||
{//Sorted force approach
|
||||
gim_aabbset_sort(aabbset,1);
|
||||
}
|
||||
}
|
||||
|
||||
//! Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
|
||||
/*!
|
||||
This function sorts the set and then it calls to gim_aabbset_self_intersections_brute_force or gim_aabbset_self_intersections_sorted.
|
||||
|
||||
\param aabbset Set of boxes. Sorting isn't required.
|
||||
\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
|
||||
\pre aabbset must be allocated and initialized.
|
||||
\post If aabbset->m_count >= GIM_MIN_SORTED_PRUNING_BOXES, then it calls to gim_aabbset_sort and then to gim_aabbset_self_intersections_sorted.
|
||||
*/
|
||||
void gim_aabbset_self_intersections(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)
|
||||
{
|
||||
if(aabbset->m_count < GIM_MIN_SORTED_PRUNING_BOXES)
|
||||
{//Brute force approach
|
||||
gim_aabbset_self_intersections_brute_force(aabbset,collision_pairs);
|
||||
}
|
||||
else
|
||||
{//Sorted force approach
|
||||
gim_aabbset_sort(aabbset,0);
|
||||
gim_aabbset_self_intersections_sorted(aabbset,collision_pairs);
|
||||
}
|
||||
}
|
||||
|
||||
//! Collides two sets. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
|
||||
/*!
|
||||
\pre aabbset1 and aabbset2 must be allocated and updated. See .
|
||||
\param aabbset1 Must be sorted, Global bound is required.
|
||||
\param aabbset2 Must be sorted, Global bound is required.
|
||||
\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
|
||||
*/
|
||||
void gim_aabbset_bipartite_intersections(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)
|
||||
{
|
||||
if(aabbset1->m_sorted_mincoords == 0||aabbset2->m_sorted_mincoords == 0)
|
||||
{//Brute force approach
|
||||
gim_aabbset_bipartite_intersections_brute_force(aabbset1,aabbset2,collision_pairs);
|
||||
}
|
||||
else
|
||||
{//Sorted force approach
|
||||
gim_aabbset_bipartite_intersections_sorted(aabbset1,aabbset2,collision_pairs);
|
||||
}
|
||||
}
|
||||
|
||||
void gim_aabbset_box_collision(aabb3f *test_aabb, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided)
|
||||
{
|
||||
collided->m_size = 0;
|
||||
char intersected;
|
||||
AABBCOLLISION(intersected,aabbset->m_global_bound,(*test_aabb));
|
||||
if(intersected == 0) return;
|
||||
|
||||
GUINT32 i;
|
||||
GUINT32 count = aabbset->m_count;
|
||||
aabb3f * paabb = aabbset->m_boxes;
|
||||
aabb3f _testaabb;
|
||||
AABB_COPY(_testaabb,*test_aabb);
|
||||
|
||||
for (i=0;i< count;i++ )
|
||||
{
|
||||
AABBCOLLISION(intersected,paabb[i],_testaabb);
|
||||
if(intersected)
|
||||
{
|
||||
GIM_DYNARRAY_PUSH_ITEM(GUINT32,(*collided),i);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void gim_aabbset_ray_collision(vec3f vorigin,vec3f vdir, GREAL tmax, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided)
|
||||
{
|
||||
collided->m_size = 0;
|
||||
char intersected;
|
||||
GREAL tparam = 0;
|
||||
BOX_INTERSECTS_RAY(aabbset->m_global_bound, vorigin, vdir, tparam, tmax,intersected);
|
||||
if(intersected==0) return;
|
||||
|
||||
GUINT32 i;
|
||||
GUINT32 count = aabbset->m_count;
|
||||
aabb3f * paabb = aabbset->m_boxes;
|
||||
|
||||
for (i=0;i< count;i++ )
|
||||
{
|
||||
BOX_INTERSECTS_RAY(paabb[i], vorigin, vdir, tparam, tmax,intersected);
|
||||
if(intersected)
|
||||
{
|
||||
GIM_DYNARRAY_PUSH_ITEM(GUINT32,(*collided),i);
|
||||
}
|
||||
}
|
||||
(void)tparam;
|
||||
}
|
||||
132
thirdparty/ode-0.16.5/GIMPACT/src/gim_contact.cpp
vendored
Normal file
132
thirdparty/ode-0.16.5/GIMPACT/src/gim_contact.cpp
vendored
Normal file
@@ -0,0 +1,132 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "GIMPACT/gim_contact.h"
|
||||
|
||||
void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts,
|
||||
GDYNAMIC_ARRAY * dest_contacts)
|
||||
{
|
||||
dest_contacts->m_size = 0;
|
||||
|
||||
GUINT32 source_count = source_contacts->m_size;
|
||||
GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));
|
||||
//create keys
|
||||
GIM_RSORT_TOKEN * keycontacts = (GIM_RSORT_TOKEN * )gim_alloc(sizeof(GIM_RSORT_TOKEN)*source_count);
|
||||
|
||||
GUINT32 i;
|
||||
for(i=0;i<source_count;i++)
|
||||
{
|
||||
keycontacts[i].m_value = i;
|
||||
GIM_CALC_KEY_CONTACT(psource_contacts[i].m_point,keycontacts[i].m_key);
|
||||
}
|
||||
|
||||
//sort keys
|
||||
GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , keycontacts, source_count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);
|
||||
|
||||
// Merge contacts
|
||||
GIM_CONTACT * pcontact = 0;
|
||||
GIM_CONTACT * scontact = 0;
|
||||
GUINT32 key,last_key=0;
|
||||
|
||||
for(i=0;i<source_contacts->m_size;i++)
|
||||
{
|
||||
key = keycontacts[i].m_key;
|
||||
scontact = &psource_contacts[keycontacts[i].m_value];
|
||||
|
||||
if(i>0 && last_key == key)
|
||||
{
|
||||
//merge contact
|
||||
if(pcontact->m_depth > scontact->m_depth + CONTACT_DIFF_EPSILON)
|
||||
{
|
||||
GIM_COPY_CONTACTS(pcontact, scontact);
|
||||
}
|
||||
}
|
||||
else
|
||||
{//add new contact
|
||||
GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));
|
||||
pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));
|
||||
GIM_COPY_CONTACTS(pcontact, scontact);
|
||||
}
|
||||
last_key = key;
|
||||
}
|
||||
gim_free(keycontacts,0);
|
||||
}
|
||||
|
||||
void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts,
|
||||
GDYNAMIC_ARRAY * dest_contacts)
|
||||
{
|
||||
dest_contacts->m_size = 0;
|
||||
//Traverse the source contacts
|
||||
GUINT32 source_count = source_contacts->m_size;
|
||||
if(source_count==0) return;
|
||||
|
||||
GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));
|
||||
|
||||
//add the unique contact
|
||||
GIM_CONTACT * pcontact = 0;
|
||||
GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));
|
||||
pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));
|
||||
//set the first contact
|
||||
GIM_COPY_CONTACTS(pcontact, psource_contacts);
|
||||
|
||||
if(source_count==1) return;
|
||||
//scale the first contact
|
||||
VEC_SCALE(pcontact->m_normal,pcontact->m_depth,pcontact->m_normal);
|
||||
|
||||
psource_contacts++;
|
||||
|
||||
//Average the contacts
|
||||
GUINT32 i;
|
||||
for(i=1;i<source_count;i++)
|
||||
{
|
||||
VEC_SUM(pcontact->m_point,pcontact->m_point,psource_contacts->m_point);
|
||||
VEC_ACCUM(pcontact->m_normal,psource_contacts->m_depth,psource_contacts->m_normal);
|
||||
psource_contacts++;
|
||||
}
|
||||
|
||||
GREAL divide_average = 1.0f/((GREAL)source_count);
|
||||
|
||||
VEC_SCALE(pcontact->m_point,divide_average,pcontact->m_point);
|
||||
|
||||
pcontact->m_depth = VEC_DOT(pcontact->m_normal,pcontact->m_normal)*divide_average;
|
||||
GIM_SQRT(pcontact->m_depth,pcontact->m_depth);
|
||||
|
||||
VEC_NORMALIZE(pcontact->m_normal);
|
||||
|
||||
/*GREAL normal_len;
|
||||
VEC_INV_LENGTH(pcontact->m_normal,normal_len);
|
||||
VEC_SCALE(pcontact->m_normal,normal_len,pcontact->m_normal);
|
||||
|
||||
//Deep = LEN(normal)/SQRT(source_count)
|
||||
GIM_SQRT(divide_average,divide_average);
|
||||
pcontact->m_depth = divide_average/normal_len;
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
|
||||
60
thirdparty/ode-0.16.5/GIMPACT/src/gim_math.cpp
vendored
Normal file
60
thirdparty/ode-0.16.5/GIMPACT/src/gim_math.cpp
vendored
Normal file
@@ -0,0 +1,60 @@
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "GIMPACT/gim_math.h"
|
||||
#include "stdlib.h"
|
||||
#include "time.h"
|
||||
|
||||
|
||||
GREAL gim_inv_sqrt(GREAL f)
|
||||
{
|
||||
GREAL r;
|
||||
GIM_INV_SQRT(f,r);
|
||||
return r;
|
||||
}
|
||||
|
||||
GREAL gim_sqrt(GREAL f)
|
||||
{
|
||||
GREAL r;
|
||||
GIM_SQRT(f,r);
|
||||
return r;
|
||||
}
|
||||
|
||||
//!Initializes mathematical functions
|
||||
void gim_init_math()
|
||||
{
|
||||
srand( static_cast< unsigned int >( time( 0 ) ) );
|
||||
}
|
||||
|
||||
//! Generates an unit random
|
||||
GREAL gim_unit_random()
|
||||
{
|
||||
GREAL rn = static_cast< GREAL >( rand() );
|
||||
rn/=(GREAL)RAND_MAX;
|
||||
return rn;
|
||||
}
|
||||
878
thirdparty/ode-0.16.5/GIMPACT/src/gim_memory.cpp
vendored
Normal file
878
thirdparty/ode-0.16.5/GIMPACT/src/gim_memory.cpp
vendored
Normal file
@@ -0,0 +1,878 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include "GIMPACT/gim_memory.h"
|
||||
#include <ode/odeconfig.h>
|
||||
#include "config.h"
|
||||
//#include "malloc.h"
|
||||
//#include "mm_malloc.h"
|
||||
|
||||
static gim_alloc_function *g_allocfn = 0;
|
||||
// static gim_alloca_function *g_allocafn = 0; -- a nonsense
|
||||
static gim_realloc_function *g_reallocfn = 0;
|
||||
static gim_free_function *g_freefn = 0;
|
||||
|
||||
|
||||
#define VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)\
|
||||
if(buffer_manager_id>=G_BUFFER_MANAGER__MAX) return G_BUFFER_OP_INVALID;\
|
||||
GBUFFER_MANAGER_DATA * bm_data;\
|
||||
gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data);\
|
||||
if(bm_data == 0) return G_BUFFER_OP_INVALID;\
|
||||
|
||||
#define VALIDATE_BUFFER_ID_PT(buffer_id)\
|
||||
GBUFFER_MANAGER_DATA * bm_data = buffer_id->m_bm_data;\
|
||||
if(bm_data == 0) return G_BUFFER_OP_INVALID;\
|
||||
if(buffer_id->m_buffer_id>=bm_data->m_buffer_array.m_size) return G_BUFFER_OP_INVALID;\
|
||||
GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);\
|
||||
pbuffer += buffer_id->m_buffer_id;\
|
||||
if(pbuffer->m_buffer_handle==0) return G_BUFFER_OP_INVALID;\
|
||||
|
||||
|
||||
void GIM_BUFFER_ARRAY_DESTROY(GBUFFER_ARRAY & array_data)
|
||||
{
|
||||
gim_buffer_array_unlock(&array_data);
|
||||
gim_buffer_free(&(array_data).m_buffer_id);
|
||||
}
|
||||
|
||||
void GIM_DYNARRAY_DESTROY(GDYNAMIC_ARRAY & array_data)
|
||||
{
|
||||
if(array_data.m_pdata != 0)
|
||||
{
|
||||
gim_free(array_data.m_pdata,0);
|
||||
array_data.m_reserve_size = 0;
|
||||
array_data.m_size = 0;
|
||||
array_data.m_pdata = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void gim_set_alloc_handler (gim_alloc_function *fn)
|
||||
{
|
||||
g_allocfn = fn;
|
||||
}
|
||||
|
||||
/* -- a nonsense
|
||||
void gim_set_alloca_handler (gim_alloca_function *fn)
|
||||
{
|
||||
g_allocafn = fn;
|
||||
}
|
||||
*/
|
||||
|
||||
void gim_set_realloc_handler (gim_realloc_function *fn)
|
||||
{
|
||||
g_reallocfn = fn;
|
||||
}
|
||||
|
||||
void gim_set_free_handler (gim_free_function *fn)
|
||||
{
|
||||
g_freefn = fn;
|
||||
}
|
||||
|
||||
gim_alloc_function *gim_get_alloc_handler()
|
||||
{
|
||||
return g_allocfn;
|
||||
}
|
||||
|
||||
/* -- a nonsense
|
||||
gim_alloca_function *gim_get_alloca_handler()
|
||||
{
|
||||
return g_allocafn;
|
||||
}
|
||||
*/
|
||||
|
||||
gim_realloc_function *gim_get_realloc_handler ()
|
||||
{
|
||||
return g_reallocfn;
|
||||
}
|
||||
|
||||
|
||||
gim_free_function *gim_get_free_handler ()
|
||||
{
|
||||
return g_freefn;
|
||||
}
|
||||
|
||||
|
||||
void * gim_alloc(size_t size)
|
||||
{
|
||||
void * ptr;
|
||||
/*
|
||||
if (g_allocfn)
|
||||
{
|
||||
ptr = g_allocfn(size);
|
||||
}
|
||||
else
|
||||
*/
|
||||
{
|
||||
ptr = malloc(size);//_mm_malloc(size,0);*/
|
||||
}
|
||||
assert(ptr);
|
||||
return ptr;
|
||||
}
|
||||
|
||||
/* -- a nonsense
|
||||
void * gim_alloca(size_t size)
|
||||
{
|
||||
if (g_allocafn) return g_allocafn(size); else return alloca(size);
|
||||
}
|
||||
*/
|
||||
|
||||
void * gim_realloc(void *ptr, size_t oldsize, size_t newsize)
|
||||
{
|
||||
/*if (g_reallocfn) return g_reallocfn(ptr,oldsize,newsize);
|
||||
else return realloc(ptr,newsize);*/
|
||||
//return realloc(ptr,newsize);
|
||||
void * newptr = gim_alloc(newsize);
|
||||
size_t copysize = newsize> oldsize? oldsize: newsize;
|
||||
memcpy(newptr,ptr,copysize);
|
||||
gim_free(ptr,oldsize);
|
||||
return newptr;
|
||||
}
|
||||
|
||||
void gim_free(void *ptr, size_t size)
|
||||
{
|
||||
if (!ptr) return;
|
||||
/* -- if custom allocation function is not used, custom free must not be used too
|
||||
if (g_freefn)
|
||||
{
|
||||
g_freefn(ptr,size);
|
||||
}
|
||||
else
|
||||
*/
|
||||
{
|
||||
free(ptr);//_mm_free(ptr);
|
||||
}
|
||||
}
|
||||
|
||||
///******************************* BUFFER MANAGERS ******************************///
|
||||
|
||||
//!** Basic buffer prototype functions
|
||||
|
||||
static GPTR _system_buffer_alloc_function(GUINT32 size,int usage)
|
||||
{
|
||||
void * newdata = gim_alloc(size);
|
||||
memset(newdata,0,size);
|
||||
return (GPTR)newdata;
|
||||
}
|
||||
|
||||
static GPTR _system_buffer_alloc_data_function(const void * pdata,GUINT32 size,int usage)
|
||||
{
|
||||
void * newdata = gim_alloc(size);
|
||||
memcpy(newdata,pdata,size);
|
||||
return (GPTR)(newdata);
|
||||
}
|
||||
|
||||
static GPTR _system_buffer_realloc_function(GPTR buffer_handle,GUINT32 oldsize,int old_usage,GUINT32 newsize,int new_usage)
|
||||
{
|
||||
void * newdata = gim_realloc(buffer_handle,oldsize,newsize);
|
||||
return (GPTR)(newdata);
|
||||
}
|
||||
|
||||
static void _system_buffer_free_function(GPTR buffer_handle,GUINT32 size)
|
||||
{
|
||||
gim_free(buffer_handle,size);
|
||||
}
|
||||
|
||||
static char * _system_lock_buffer_function(GPTR buffer_handle,int access)
|
||||
{
|
||||
return (char * )(buffer_handle);
|
||||
}
|
||||
|
||||
|
||||
static void _system_unlock_buffer_function(GPTR buffer_handle)
|
||||
{
|
||||
}
|
||||
|
||||
static void _system_download_from_buffer_function(
|
||||
GPTR source_buffer_handle,
|
||||
GUINT32 source_pos,
|
||||
void * destdata,
|
||||
GUINT32 copysize)
|
||||
{
|
||||
char * pdata;
|
||||
pdata = (char *)source_buffer_handle;
|
||||
memcpy(destdata,pdata+source_pos,copysize);
|
||||
}
|
||||
|
||||
static void _system_upload_to_buffer_function(
|
||||
GPTR dest_buffer_handle,
|
||||
GUINT32 dest_pos,
|
||||
void * sourcedata,
|
||||
GUINT32 copysize)
|
||||
{
|
||||
char * pdata;
|
||||
pdata = (char * )dest_buffer_handle;
|
||||
memcpy(pdata+dest_pos,sourcedata,copysize);
|
||||
}
|
||||
|
||||
static void _system_copy_buffers_function(
|
||||
GPTR source_buffer_handle,
|
||||
GUINT32 source_pos,
|
||||
GPTR dest_buffer_handle,
|
||||
GUINT32 dest_pos,
|
||||
GUINT32 copysize)
|
||||
{
|
||||
char * pdata1,*pdata2;
|
||||
pdata1 = (char *)source_buffer_handle;
|
||||
pdata2 = (char *)dest_buffer_handle;
|
||||
memcpy(pdata2+dest_pos,pdata1+source_pos,copysize);
|
||||
}
|
||||
|
||||
static GPTR _shared_buffer_alloc_function(GUINT32 size,int usage)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
static GPTR _shared_buffer_alloc_data_function(const void * pdata,GUINT32 size,int usage)
|
||||
{
|
||||
return (GPTR)pdata;
|
||||
}
|
||||
|
||||
#if 0
|
||||
static GPTR _shared_buffer_realloc_function(GPTR buffer_handle,GUINT32 oldsize,int old_usage,GUINT32 newsize,int new_usage)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
static void _shared_buffer_free_function(GPTR buffer_handle,GUINT32 size)
|
||||
{
|
||||
}
|
||||
|
||||
static inline int _is_buffer_manager_data_active(GBUFFER_MANAGER_DATA * bm_data)
|
||||
{
|
||||
return bm_data->m_buffer_array.m_pdata != 0;
|
||||
}
|
||||
|
||||
static inline void _init_buffer_manager_data(GBUFFER_MANAGER_DATA * bm_data)
|
||||
{
|
||||
bm_data->m_buffer_array.m_pdata = 0;
|
||||
}
|
||||
|
||||
static const GBUFFER_MANAGER_PROTOTYPE g_bm_prototypes[G_BUFFER_MANAGER__MAX] =
|
||||
{
|
||||
{
|
||||
&_system_buffer_alloc_function, // alloc_fn;
|
||||
&_system_buffer_alloc_data_function, // alloc_data_fn;
|
||||
&_system_buffer_realloc_function, // realloc_fn;
|
||||
&_system_buffer_free_function, // free_fn;
|
||||
&_system_lock_buffer_function, // lock_buffer_fn;
|
||||
&_system_unlock_buffer_function, // unlock_buffer_fn;
|
||||
&_system_download_from_buffer_function, // download_from_buffer_fn;
|
||||
&_system_upload_to_buffer_function, // upload_to_buffer_fn;
|
||||
&_system_copy_buffers_function, // copy_buffers_fn;
|
||||
}, // G_BUFFER_MANAGER_SYSTEM
|
||||
|
||||
{
|
||||
&_shared_buffer_alloc_function, // alloc_fn;
|
||||
&_shared_buffer_alloc_data_function, // alloc_data_fn;
|
||||
&_system_buffer_realloc_function, // realloc_fn;
|
||||
&_shared_buffer_free_function, // free_fn;
|
||||
&_system_lock_buffer_function, // lock_buffer_fn;
|
||||
&_system_unlock_buffer_function, // unlock_buffer_fn;
|
||||
&_system_download_from_buffer_function, // download_from_buffer_fn;
|
||||
&_system_upload_to_buffer_function, // upload_to_buffer_fn;
|
||||
&_system_copy_buffers_function, // copy_buffers_fn;
|
||||
}, // G_BUFFER_MANAGER_SHARED
|
||||
};
|
||||
|
||||
int gim_is_buffer_manager_active(GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
GUINT32 buffer_manager_id)
|
||||
{
|
||||
GBUFFER_MANAGER_DATA * bm_data;
|
||||
bm_data = &buffer_managers[buffer_manager_id];
|
||||
return _is_buffer_manager_data_active(bm_data);
|
||||
}
|
||||
|
||||
//!** Buffer manager operations
|
||||
void gim_create_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
GUINT32 buffer_manager_id)
|
||||
{
|
||||
GBUFFER_MANAGER_DATA * bm_data;
|
||||
bm_data = &buffer_managers[buffer_manager_id];
|
||||
|
||||
if (_is_buffer_manager_data_active(bm_data))
|
||||
{
|
||||
gim_destroy_buffer_manager(buffer_managers, buffer_manager_id);
|
||||
}
|
||||
|
||||
//CREATE ARRAYS
|
||||
GIM_DYNARRAY_CREATE(GBUFFER_DATA,bm_data->m_buffer_array,G_ARRAY_BUFFERMANAGER_INIT_SIZE);
|
||||
GIM_DYNARRAY_CREATE(GUINT32,bm_data->m_free_positions,G_ARRAY_BUFFERMANAGER_INIT_SIZE);
|
||||
bm_data->m_prototype = g_bm_prototypes + buffer_manager_id;
|
||||
bm_data->m_buffer_manager_id = buffer_manager_id;
|
||||
}
|
||||
|
||||
void gim_destroy_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[], GUINT32 buffer_manager_id)
|
||||
{
|
||||
GBUFFER_MANAGER_DATA * bm_data;
|
||||
gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data);
|
||||
if(bm_data == 0) return;
|
||||
//Destroy all buffers
|
||||
|
||||
GBUFFER_DATA * buffers = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);
|
||||
GUINT32 i, buffer_count = bm_data->m_buffer_array.m_size;
|
||||
for (i=0;i<buffer_count ;i++ )
|
||||
{
|
||||
GBUFFER_DATA * current_buffer = buffers + i;
|
||||
if(current_buffer->m_buffer_handle!=0) //Is active
|
||||
{
|
||||
// free handle
|
||||
bm_data->m_prototype->free_fn(current_buffer->m_buffer_handle,current_buffer->m_size);
|
||||
}
|
||||
}
|
||||
|
||||
//destroy buffer array
|
||||
GIM_DYNARRAY_DESTROY(bm_data->m_buffer_array);
|
||||
//destroy free positions
|
||||
GIM_DYNARRAY_DESTROY(bm_data->m_free_positions);
|
||||
}
|
||||
void gim_get_buffer_manager_data(GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
GUINT32 buffer_manager_id,GBUFFER_MANAGER_DATA ** pbm_data)
|
||||
{
|
||||
GBUFFER_MANAGER_DATA * bm_data;
|
||||
bm_data = &buffer_managers[buffer_manager_id];
|
||||
|
||||
if (_is_buffer_manager_data_active(bm_data))
|
||||
{
|
||||
*pbm_data = bm_data;
|
||||
}
|
||||
else
|
||||
{
|
||||
*pbm_data = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void gim_init_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[])
|
||||
{
|
||||
GUINT32 i;
|
||||
for (i=0;i<G_BUFFER_MANAGER__MAX;i++)
|
||||
{
|
||||
_init_buffer_manager_data(buffer_managers + i);
|
||||
}
|
||||
|
||||
// Add the two most important buffer managers
|
||||
|
||||
//add system buffer manager
|
||||
gim_create_buffer_manager(buffer_managers,G_BUFFER_MANAGER_SYSTEM );
|
||||
|
||||
//add shared buffer manager
|
||||
gim_create_buffer_manager(buffer_managers,G_BUFFER_MANAGER_SHARED);
|
||||
}
|
||||
|
||||
void gim_terminate_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[])
|
||||
{
|
||||
GUINT32 i;
|
||||
for (i=0;i<G_BUFFER_MANAGER__MAX;i++)
|
||||
{
|
||||
gim_destroy_buffer_manager(buffer_managers,i);
|
||||
}
|
||||
}
|
||||
|
||||
//!** Buffer operations
|
||||
|
||||
void GET_AVALIABLE_BUFFER_ID(GBUFFER_MANAGER_DATA * buffer_manager, GUINT32 & buffer_id)
|
||||
{
|
||||
if(buffer_manager->m_free_positions.m_size>0)\
|
||||
{
|
||||
GUINT32 * _pointer = GIM_DYNARRAY_POINTER(GUINT32,buffer_manager->m_free_positions);
|
||||
buffer_id = _pointer[buffer_manager->m_free_positions.m_size-1];
|
||||
GIM_DYNARRAY_POP_ITEM(buffer_manager->m_free_positions);
|
||||
}
|
||||
else
|
||||
{
|
||||
buffer_id = buffer_manager->m_buffer_array.m_size;
|
||||
GIM_DYNARRAY_PUSH_EMPTY(GBUFFER_DATA,buffer_manager->m_buffer_array);
|
||||
}
|
||||
}
|
||||
|
||||
GINT32 _validate_buffer_id(GBUFFER_ID * buffer_id,GBUFFER_DATA ** ppbuffer,GBUFFER_MANAGER_DATA ** pbm_data)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
*ppbuffer = pbuffer;
|
||||
*pbm_data = bm_data;
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GUINT32 gim_create_buffer(
|
||||
GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
GUINT32 buffer_manager_id,
|
||||
GUINT32 buffer_size,
|
||||
int usage,
|
||||
GBUFFER_ID * buffer_id)
|
||||
{
|
||||
VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)
|
||||
|
||||
GPTR newbufferhandle = bm_data->m_prototype->alloc_fn(buffer_size,usage);
|
||||
if(newbufferhandle==0) return G_BUFFER_OP_INVALID;
|
||||
|
||||
GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id);
|
||||
buffer_id->m_bm_data = bm_data;
|
||||
|
||||
GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);
|
||||
pbuffer += buffer_id->m_buffer_id ;
|
||||
pbuffer->m_buffer_handle = newbufferhandle;
|
||||
pbuffer->m_size = buffer_size;
|
||||
pbuffer->m_usage = usage;
|
||||
pbuffer->m_lock_count = 0;
|
||||
pbuffer->m_refcount = 0;
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
|
||||
//set shadow buffer if needed
|
||||
|
||||
if(usage == G_MU_STATIC_READ ||
|
||||
usage == G_MU_STATIC_READ_DYNAMIC_WRITE||
|
||||
usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)
|
||||
{
|
||||
gim_create_common_buffer(buffer_managers,buffer_size,&pbuffer->m_shadow_buffer);
|
||||
}
|
||||
else
|
||||
{
|
||||
pbuffer->m_shadow_buffer.m_bm_data = 0;
|
||||
pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;
|
||||
}
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
|
||||
GUINT32 gim_create_buffer_from_data(
|
||||
GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
GUINT32 buffer_manager_id,
|
||||
const void * pdata,
|
||||
GUINT32 buffer_size,
|
||||
int usage,
|
||||
GBUFFER_ID * buffer_id)
|
||||
{
|
||||
VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)
|
||||
|
||||
GPTR newbufferhandle = bm_data->m_prototype->alloc_data_fn(pdata,buffer_size,usage);
|
||||
if(newbufferhandle==0) return G_BUFFER_OP_INVALID;
|
||||
|
||||
GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id);
|
||||
buffer_id->m_bm_data = bm_data;
|
||||
|
||||
GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);
|
||||
pbuffer += buffer_id->m_buffer_id ;
|
||||
pbuffer->m_buffer_handle = newbufferhandle;
|
||||
pbuffer->m_size = buffer_size;
|
||||
pbuffer->m_usage = usage;
|
||||
pbuffer->m_lock_count = 0;
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_refcount = 0;
|
||||
|
||||
//set shadow buffer if needed
|
||||
|
||||
if(usage == G_MU_STATIC_READ ||
|
||||
usage == G_MU_STATIC_READ_DYNAMIC_WRITE||
|
||||
usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)
|
||||
{
|
||||
gim_create_common_buffer_from_data(buffer_managers,pdata,buffer_size,&pbuffer->m_shadow_buffer);
|
||||
}
|
||||
else
|
||||
{
|
||||
pbuffer->m_shadow_buffer.m_bm_data = 0;
|
||||
pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;
|
||||
}
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GUINT32 gim_create_common_buffer(GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
GUINT32 buffer_size, GBUFFER_ID * buffer_id)
|
||||
{
|
||||
return gim_create_buffer(buffer_managers,G_BUFFER_MANAGER_SYSTEM,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);
|
||||
}
|
||||
|
||||
GUINT32 gim_create_common_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
const void * pdata, GUINT32 buffer_size, GBUFFER_ID * buffer_id)
|
||||
{
|
||||
return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SYSTEM,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);
|
||||
}
|
||||
|
||||
GUINT32 gim_create_shared_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
const void * pdata, GUINT32 buffer_size, GBUFFER_ID * buffer_id)
|
||||
{
|
||||
return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SHARED,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);
|
||||
}
|
||||
|
||||
GINT32 gim_buffer_realloc(GBUFFER_ID * buffer_id,GUINT32 newsize)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID;
|
||||
GPTR newhandle = buffer_id->m_bm_data->m_prototype->realloc_fn(
|
||||
pbuffer->m_buffer_handle,pbuffer->m_size,pbuffer->m_usage,newsize,pbuffer->m_usage);
|
||||
if(newhandle==0) return G_BUFFER_OP_INVALID;
|
||||
pbuffer->m_buffer_handle = newhandle;
|
||||
//realloc shadow buffer if any
|
||||
gim_buffer_realloc(&pbuffer->m_shadow_buffer,newsize);
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GINT32 gim_buffer_add_ref(GBUFFER_ID * buffer_id)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
pbuffer->m_refcount++;
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GINT32 gim_buffer_free(GBUFFER_ID * buffer_id)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID;
|
||||
if(pbuffer->m_refcount>0) pbuffer->m_refcount--;
|
||||
if(pbuffer->m_refcount>0) return G_BUFFER_OP_STILLREFCOUNTED;
|
||||
|
||||
buffer_id->m_bm_data->m_prototype->free_fn(
|
||||
pbuffer->m_buffer_handle,pbuffer->m_size);
|
||||
//destroy shadow buffer if needed
|
||||
gim_buffer_free(&pbuffer->m_shadow_buffer);
|
||||
// Obtain a free slot index for a new buffer
|
||||
GIM_DYNARRAY_PUSH_ITEM(GUINT32,bm_data->m_free_positions,buffer_id->m_buffer_id);
|
||||
pbuffer->m_buffer_handle = 0;
|
||||
pbuffer->m_size = 0;
|
||||
pbuffer->m_shadow_buffer.m_bm_data = 0;
|
||||
pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GINT32 gim_lock_buffer(GBUFFER_ID * buffer_id,int access,char ** map_pointer)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
if(pbuffer->m_lock_count>0)
|
||||
{
|
||||
if(pbuffer->m_access!=access) return G_BUFFER_OP_INVALID;
|
||||
pbuffer->m_lock_count++;
|
||||
*map_pointer = pbuffer->m_mapped_pointer;
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
pbuffer->m_access = access;
|
||||
|
||||
GUINT32 result;
|
||||
if(pbuffer->m_usage==G_MU_STATIC_WRITE)
|
||||
{
|
||||
*map_pointer = 0;///no access
|
||||
return G_BUFFER_OP_INVALID;
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_STATIC_READ)
|
||||
{
|
||||
if(pbuffer->m_access == G_MA_READ_ONLY)
|
||||
{
|
||||
result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);
|
||||
if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
|
||||
pbuffer->m_mapped_pointer = *map_pointer;
|
||||
pbuffer->m_lock_count++;
|
||||
}
|
||||
else
|
||||
{
|
||||
*map_pointer = 0;
|
||||
return G_BUFFER_OP_INVALID;
|
||||
}
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE)
|
||||
{
|
||||
if(pbuffer->m_access == G_MA_READ_ONLY)
|
||||
{
|
||||
result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);
|
||||
if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
|
||||
pbuffer->m_mapped_pointer = *map_pointer;
|
||||
pbuffer->m_lock_count++;
|
||||
}
|
||||
else if(pbuffer->m_access == G_MA_WRITE_ONLY)
|
||||
{
|
||||
pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn(
|
||||
pbuffer->m_buffer_handle,access);
|
||||
*map_pointer = pbuffer->m_mapped_pointer;
|
||||
pbuffer->m_lock_count++;
|
||||
}
|
||||
else if(pbuffer->m_access == G_MA_READ_WRITE)
|
||||
{
|
||||
*map_pointer = 0;
|
||||
return G_BUFFER_OP_INVALID;
|
||||
}
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)
|
||||
{
|
||||
result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);
|
||||
if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
|
||||
pbuffer->m_mapped_pointer = *map_pointer;
|
||||
pbuffer->m_lock_count++;
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ)
|
||||
{
|
||||
if(pbuffer->m_access == G_MA_READ_ONLY)
|
||||
{
|
||||
pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn(
|
||||
pbuffer->m_buffer_handle,access);
|
||||
*map_pointer = pbuffer->m_mapped_pointer;
|
||||
pbuffer->m_lock_count++;
|
||||
}
|
||||
else
|
||||
{
|
||||
*map_pointer = 0;
|
||||
return G_BUFFER_OP_INVALID;
|
||||
}
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE)
|
||||
{
|
||||
pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn(
|
||||
pbuffer->m_buffer_handle,access);
|
||||
*map_pointer = pbuffer->m_mapped_pointer;
|
||||
pbuffer->m_lock_count++;
|
||||
}
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GINT32 gim_unlock_buffer(GBUFFER_ID * buffer_id)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
if(pbuffer->m_lock_count==0) return G_BUFFER_OP_INVALID;
|
||||
|
||||
if(pbuffer->m_lock_count>1)
|
||||
{
|
||||
pbuffer->m_lock_count--;
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
|
||||
GUINT32 result;
|
||||
if(pbuffer->m_usage==G_MU_STATIC_WRITE)
|
||||
{
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
return G_BUFFER_OP_INVALID;
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_STATIC_READ)
|
||||
{
|
||||
if(pbuffer->m_access == G_MA_READ_ONLY)
|
||||
{
|
||||
result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);
|
||||
if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
}
|
||||
else
|
||||
{
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
return G_BUFFER_OP_INVALID;
|
||||
}
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE)
|
||||
{
|
||||
if(pbuffer->m_access == G_MA_READ_ONLY)
|
||||
{
|
||||
result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);
|
||||
if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
}
|
||||
else if(pbuffer->m_access == G_MA_WRITE_ONLY)
|
||||
{
|
||||
buffer_id->m_bm_data->m_prototype->unlock_buffer_fn(
|
||||
pbuffer->m_buffer_handle);
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
}
|
||||
else if(pbuffer->m_access == G_MA_READ_WRITE)
|
||||
{
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
return G_BUFFER_OP_INVALID;
|
||||
}
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)
|
||||
{
|
||||
result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);
|
||||
if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
if(pbuffer->m_access == G_MA_WRITE_ONLY||pbuffer->m_access == G_MA_READ_WRITE)
|
||||
{
|
||||
gim_copy_buffers(&pbuffer->m_shadow_buffer,0,buffer_id,0,pbuffer->m_size);
|
||||
}
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ)
|
||||
{
|
||||
if(pbuffer->m_access == G_MA_READ_ONLY)
|
||||
{
|
||||
buffer_id->m_bm_data->m_prototype->unlock_buffer_fn(
|
||||
pbuffer->m_buffer_handle);
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
}
|
||||
else
|
||||
{
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
return G_BUFFER_OP_INVALID;
|
||||
}
|
||||
}
|
||||
else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE)
|
||||
{
|
||||
buffer_id->m_bm_data->m_prototype->unlock_buffer_fn(
|
||||
pbuffer->m_buffer_handle);
|
||||
pbuffer->m_mapped_pointer = 0;
|
||||
pbuffer->m_lock_count=0;
|
||||
}
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GINT32 gim_get_buffer_size(GBUFFER_ID * buffer_id,GUINT32 * buffer_size)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
*buffer_size = pbuffer->m_size;
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GINT32 gim_get_buffer_is_locked(GBUFFER_ID * buffer_id,GUINT32 * lock_count)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
*lock_count = pbuffer->m_lock_count;
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
|
||||
GINT32 gim_download_from_buffer(
|
||||
GBUFFER_ID * buffer_id,
|
||||
GUINT32 source_pos,
|
||||
void * destdata,
|
||||
GUINT32 copysize)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
buffer_id->m_bm_data->m_prototype->download_from_buffer_fn(
|
||||
pbuffer->m_buffer_handle,source_pos,destdata,copysize);
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GINT32 gim_upload_to_buffer(
|
||||
GBUFFER_ID * buffer_id,
|
||||
GUINT32 dest_pos,
|
||||
void * sourcedata,
|
||||
GUINT32 copysize)
|
||||
{
|
||||
VALIDATE_BUFFER_ID_PT(buffer_id)
|
||||
buffer_id->m_bm_data->m_prototype->upload_to_buffer_fn(
|
||||
pbuffer->m_buffer_handle,dest_pos,sourcedata,copysize);
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GINT32 gim_copy_buffers(
|
||||
GBUFFER_ID * source_buffer_id,
|
||||
GUINT32 source_pos,
|
||||
GBUFFER_ID * dest_buffer_id,
|
||||
GUINT32 dest_pos,
|
||||
GUINT32 copysize)
|
||||
{
|
||||
GBUFFER_MANAGER_DATA * bm_data1,* bm_data2;
|
||||
GBUFFER_DATA * pbuffer1, * pbuffer2;
|
||||
void * tempdata;
|
||||
if(_validate_buffer_id(source_buffer_id,&pbuffer1,&bm_data1)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
|
||||
|
||||
if(_validate_buffer_id(dest_buffer_id,&pbuffer2,&bm_data2)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
|
||||
|
||||
if((bm_data1->m_buffer_manager_id == bm_data2->m_buffer_manager_id)||
|
||||
(bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)||
|
||||
(bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM)
|
||||
)
|
||||
{//smooth copy
|
||||
bm_data1->m_prototype->copy_buffers_fn(
|
||||
pbuffer1->m_buffer_handle,source_pos,pbuffer2->m_buffer_handle,dest_pos,copysize);
|
||||
}
|
||||
else if(bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM ||
|
||||
bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)
|
||||
{
|
||||
//hard copy
|
||||
tempdata = (void *)pbuffer1->m_buffer_handle;
|
||||
//upload data
|
||||
bm_data2->m_prototype->upload_to_buffer_fn(
|
||||
pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize);
|
||||
}
|
||||
else
|
||||
{
|
||||
//very hard copy
|
||||
void * tempdata = gim_alloc(copysize);
|
||||
//download data
|
||||
bm_data1->m_prototype->download_from_buffer_fn(
|
||||
pbuffer1->m_buffer_handle,source_pos,tempdata,copysize);
|
||||
|
||||
//upload data
|
||||
bm_data2->m_prototype->upload_to_buffer_fn(
|
||||
pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize);
|
||||
//delete temp buffer
|
||||
gim_free(tempdata,copysize);
|
||||
}
|
||||
return G_BUFFER_OP_SUCCESS;
|
||||
}
|
||||
|
||||
GINT32 gim_buffer_array_lock(GBUFFER_ARRAY * array_data, int access)
|
||||
{
|
||||
if(array_data->m_buffer_data != 0) return G_BUFFER_OP_SUCCESS;
|
||||
GINT32 result = gim_lock_buffer(&array_data->m_buffer_id,access,&array_data->m_buffer_data);
|
||||
if(result!= G_BUFFER_OP_SUCCESS) return result;
|
||||
array_data->m_buffer_data += array_data->m_byte_offset;
|
||||
return result;
|
||||
}
|
||||
|
||||
GINT32 gim_buffer_array_unlock(GBUFFER_ARRAY * array_data)
|
||||
{
|
||||
if(array_data->m_buffer_data == 0) return G_BUFFER_OP_SUCCESS;
|
||||
GINT32 result = gim_unlock_buffer(&array_data->m_buffer_id);
|
||||
if(result!= G_BUFFER_OP_SUCCESS) return result;
|
||||
array_data->m_buffer_data = 0;
|
||||
return result;
|
||||
}
|
||||
|
||||
void gim_buffer_array_copy_ref(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY * dest_data)
|
||||
{
|
||||
dest_data->m_buffer_id.m_buffer_id = source_data->m_buffer_id.m_buffer_id;
|
||||
dest_data->m_buffer_id.m_bm_data = source_data->m_buffer_id.m_bm_data;
|
||||
dest_data->m_buffer_data = 0;
|
||||
dest_data->m_byte_stride = source_data->m_byte_stride;
|
||||
dest_data->m_byte_offset = source_data->m_byte_offset;
|
||||
dest_data->m_element_count = source_data->m_element_count;
|
||||
gim_buffer_add_ref(&dest_data->m_buffer_id);
|
||||
}
|
||||
|
||||
void gim_buffer_array_copy_value(GBUFFER_ARRAY * source_data,
|
||||
GBUFFER_MANAGER_DATA dest_buffer_managers[],GBUFFER_ARRAY * dest_data,
|
||||
GUINT32 buffer_manager_id,int usage)
|
||||
{
|
||||
//Create new buffer
|
||||
GUINT32 buffsize = source_data->m_element_count*source_data->m_byte_stride;
|
||||
gim_create_buffer(dest_buffer_managers,buffer_manager_id,buffsize,usage,&dest_data->m_buffer_id);
|
||||
|
||||
//copy ref data
|
||||
dest_data->m_buffer_data = 0;
|
||||
dest_data->m_byte_stride = source_data->m_byte_stride;
|
||||
dest_data->m_byte_offset = 0;
|
||||
dest_data->m_element_count = source_data->m_element_count;
|
||||
gim_buffer_add_ref(&dest_data->m_buffer_id);
|
||||
//copy buffers
|
||||
gim_copy_buffers(&source_data->m_buffer_id,source_data->m_byte_offset,&dest_data->m_buffer_id,0,buffsize);
|
||||
}
|
||||
251
thirdparty/ode-0.16.5/GIMPACT/src/gim_tri_tri_overlap.cpp
vendored
Normal file
251
thirdparty/ode-0.16.5/GIMPACT/src/gim_tri_tri_overlap.cpp
vendored
Normal file
@@ -0,0 +1,251 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "GIMPACT/gim_trimesh.h"
|
||||
|
||||
|
||||
#define FABS(x) (float(fabs(x))) /* implement as is fastest on your machine */
|
||||
|
||||
/* some macros */
|
||||
|
||||
#define CLASSIFY_TRIPOINTS_BY_FACE(v1,v2,v3,faceplane,out_of_face)\
|
||||
{ \
|
||||
_distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\
|
||||
_distances[1] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\
|
||||
_distances[2] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \
|
||||
if(_distances[1]>0.0f && _distances[2]>0.0f)\
|
||||
{\
|
||||
out_of_face = 1;\
|
||||
}\
|
||||
else\
|
||||
{\
|
||||
out_of_face = 0;\
|
||||
}\
|
||||
}\
|
||||
|
||||
/* sort so that a<=b */
|
||||
#define SORT(a,b) \
|
||||
if(a>b) \
|
||||
{ \
|
||||
float c; \
|
||||
c=a; \
|
||||
a=b; \
|
||||
b=c; \
|
||||
}
|
||||
|
||||
|
||||
/* this edge to edge test is based on Franlin Antonio's gem:
|
||||
"Faster Line Segment Intersection", in Graphics Gems III,
|
||||
pp. 199-202 */
|
||||
#define EDGE_EDGE_TEST(V0,U0,U1) \
|
||||
Bx=U0[i0]-U1[i0]; \
|
||||
By=U0[i1]-U1[i1]; \
|
||||
Cx=V0[i0]-U0[i0]; \
|
||||
Cy=V0[i1]-U0[i1]; \
|
||||
f=Ay*Bx-Ax*By; \
|
||||
d=By*Cx-Bx*Cy; \
|
||||
if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f)) \
|
||||
{ \
|
||||
e=Ax*Cy-Ay*Cx; \
|
||||
if(f>0) \
|
||||
{ \
|
||||
if(e>=0 && e<=f) return 1; \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
if(e<=0 && e>=f) return 1; \
|
||||
} \
|
||||
}
|
||||
|
||||
#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \
|
||||
{ \
|
||||
float Ax,Ay,Bx,By,Cx,Cy,e,d,f; \
|
||||
Ax=V1[i0]-V0[i0]; \
|
||||
Ay=V1[i1]-V0[i1]; \
|
||||
/* test edge U0,U1 against V0,V1 */ \
|
||||
EDGE_EDGE_TEST(V0,U0,U1); \
|
||||
/* test edge U1,U2 against V0,V1 */ \
|
||||
EDGE_EDGE_TEST(V0,U1,U2); \
|
||||
/* test edge U2,U1 against V0,V1 */ \
|
||||
EDGE_EDGE_TEST(V0,U2,U0); \
|
||||
}
|
||||
|
||||
#define POINT_IN_TRI(V0,U0,U1,U2) \
|
||||
{ \
|
||||
float a,b,c,d0,d1,d2; \
|
||||
/* is T1 completely inside T2? */ \
|
||||
/* check if V0 is inside tri(U0,U1,U2) */ \
|
||||
a=U1[i1]-U0[i1]; \
|
||||
b=-(U1[i0]-U0[i0]); \
|
||||
c=-a*U0[i0]-b*U0[i1]; \
|
||||
d0=a*V0[i0]+b*V0[i1]+c; \
|
||||
\
|
||||
a=U2[i1]-U1[i1]; \
|
||||
b=-(U2[i0]-U1[i0]); \
|
||||
c=-a*U1[i0]-b*U1[i1]; \
|
||||
d1=a*V0[i0]+b*V0[i1]+c; \
|
||||
\
|
||||
a=U0[i1]-U2[i1]; \
|
||||
b=-(U0[i0]-U2[i0]); \
|
||||
c=-a*U2[i0]-b*U2[i1]; \
|
||||
d2=a*V0[i0]+b*V0[i1]+c; \
|
||||
if(d0*d1>0.0) \
|
||||
{ \
|
||||
if(d0*d2>0.0) return 1; \
|
||||
} \
|
||||
}
|
||||
|
||||
int coplanar_tri_tri(GIM_TRIANGLE_DATA *tri1,
|
||||
GIM_TRIANGLE_DATA *tri2)
|
||||
{
|
||||
short i0,i1;
|
||||
/* first project onto an axis-aligned plane, that maximizes the area */
|
||||
/* of the triangles, compute indices: i0,i1. */
|
||||
PLANE_MINOR_AXES(tri1->m_planes.m_planes[0], i0, i1);
|
||||
|
||||
/* test all edges of triangle 1 against the edges of triangle 2 */
|
||||
EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[0],tri1->m_vertices[1],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);
|
||||
EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);
|
||||
EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[2],tri1->m_vertices[0],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);
|
||||
|
||||
/* finally, test if tri1 is totally contained in tri2 or vice versa */
|
||||
POINT_IN_HULL(tri1->m_vertices[0],(&tri2->m_planes.m_planes[1]),3,i0);
|
||||
if(i0==0) return 1;
|
||||
|
||||
POINT_IN_HULL(tri2->m_vertices[0],(&tri1->m_planes.m_planes[1]),3,i0);
|
||||
if(i0==0) return 1;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \
|
||||
{ \
|
||||
if(D0D1>0.0f) \
|
||||
{ \
|
||||
/* here we know that D0D2<=0.0 */ \
|
||||
/* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
|
||||
A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
|
||||
} \
|
||||
else if(D0D2>0.0f)\
|
||||
{ \
|
||||
/* here we know that d0d1<=0.0 */ \
|
||||
A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
|
||||
} \
|
||||
else if(D1*D2>0.0f || D0!=0.0f) \
|
||||
{ \
|
||||
/* here we know that d0d1<=0.0 or that D0!=0.0 */ \
|
||||
A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \
|
||||
} \
|
||||
else if(D1!=0.0f) \
|
||||
{ \
|
||||
A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
|
||||
} \
|
||||
else if(D2!=0.0f) \
|
||||
{ \
|
||||
A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
/* triangles are coplanar */ \
|
||||
return coplanar_tri_tri(tri1,tri2); \
|
||||
} \
|
||||
}\
|
||||
|
||||
|
||||
|
||||
int gim_triangle_triangle_overlap(
|
||||
GIM_TRIANGLE_DATA *tri1,
|
||||
GIM_TRIANGLE_DATA *tri2)
|
||||
{
|
||||
vec3f _distances;
|
||||
char out_of_face;
|
||||
CLASSIFY_TRIPOINTS_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);
|
||||
if(out_of_face==1) return 0;
|
||||
|
||||
CLASSIFY_TRIPOINTS_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);
|
||||
if(out_of_face==1) return 0;
|
||||
|
||||
|
||||
float du0=0,du1=0,du2=0,dv0=0,dv1=0,dv2=0;
|
||||
float D[3];
|
||||
float isect1[2], isect2[2];
|
||||
float du0du1=0,du0du2=0,dv0dv1=0,dv0dv2=0;
|
||||
short index;
|
||||
float vp0,vp1,vp2;
|
||||
float up0,up1,up2;
|
||||
float bb,cc,max;
|
||||
|
||||
/* compute direction of intersection line */
|
||||
VEC_CROSS(D,tri1->m_planes.m_planes[0],tri2->m_planes.m_planes[0]);
|
||||
|
||||
/* compute and index to the largest component of D */
|
||||
max=(float)FABS(D[0]);
|
||||
index=0;
|
||||
bb=(float)FABS(D[1]);
|
||||
cc=(float)FABS(D[2]);
|
||||
if(bb>max) max=bb,index=1;
|
||||
if(cc>max) max=cc,index=2;
|
||||
|
||||
/* this is the simplified projection onto L*/
|
||||
vp0= tri1->m_vertices[0][index];
|
||||
vp1= tri1->m_vertices[1][index];
|
||||
vp2= tri1->m_vertices[2][index];
|
||||
|
||||
up0= tri2->m_vertices[0][index];
|
||||
up1= tri2->m_vertices[1][index];
|
||||
up2= tri2->m_vertices[2][index];
|
||||
|
||||
/* compute interval for triangle 1 */
|
||||
float a,b,c,x0,x1;
|
||||
NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1);
|
||||
|
||||
/* compute interval for triangle 2 */
|
||||
float d,e,f,y0,y1;
|
||||
NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1);
|
||||
|
||||
float xx,yy,xxyy,tmp;
|
||||
xx=x0*x1;
|
||||
yy=y0*y1;
|
||||
xxyy=xx*yy;
|
||||
|
||||
tmp=a*xxyy;
|
||||
isect1[0]=tmp+b*x1*yy;
|
||||
isect1[1]=tmp+c*x0*yy;
|
||||
|
||||
tmp=d*xxyy;
|
||||
isect2[0]=tmp+e*xx*y1;
|
||||
isect2[1]=tmp+f*xx*y0;
|
||||
|
||||
SORT(isect1[0],isect1[1]);
|
||||
SORT(isect2[0],isect2[1]);
|
||||
|
||||
if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;
|
||||
return 1;
|
||||
}
|
||||
391
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh.cpp
vendored
Normal file
391
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh.cpp
vendored
Normal file
@@ -0,0 +1,391 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include <assert.h>
|
||||
#include "GIMPACT/gim_trimesh.h"
|
||||
|
||||
GUINT32 gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
return trimesh->m_tri_index_buffer.m_element_count/3;
|
||||
}
|
||||
|
||||
//! Creates the aabb set and the triangles cache
|
||||
/*!
|
||||
|
||||
\param trimesh
|
||||
\param vertex_array
|
||||
\param triindex_array
|
||||
\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just is a reference to the original array.
|
||||
\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer)
|
||||
*/
|
||||
void gim_trimesh_create_from_arrays(GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply)
|
||||
{
|
||||
assert(trimesh);
|
||||
assert(vertex_array);
|
||||
assert(triindex_array);
|
||||
gim_buffer_array_copy_ref(vertex_array,&trimesh->m_source_vertex_buffer);
|
||||
gim_buffer_array_copy_ref(triindex_array,&trimesh->m_tri_index_buffer);
|
||||
|
||||
trimesh->m_mask = GIM_TRIMESH_NEED_UPDATE;//needs update
|
||||
//Create the transformed vertices
|
||||
if(transformed_reply==1)
|
||||
{
|
||||
trimesh->m_mask |= GIM_TRIMESH_TRANSFORMED_REPLY;
|
||||
gim_buffer_array_copy_value(vertex_array,
|
||||
buffer_managers,&trimesh->m_transformed_vertex_buffer,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);
|
||||
}
|
||||
else
|
||||
{
|
||||
gim_buffer_array_copy_ref(vertex_array,&trimesh->m_transformed_vertex_buffer);
|
||||
}
|
||||
//create the box set
|
||||
GUINT32 facecount = gim_trimesh_get_triangle_count(trimesh);
|
||||
|
||||
gim_aabbset_alloc(&trimesh->m_aabbset,facecount);
|
||||
//create the planes cache
|
||||
GIM_DYNARRAY_CREATE_SIZED(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer,facecount);
|
||||
//Create the bitset
|
||||
GIM_BITSET_CREATE_SIZED(trimesh->m_planes_cache_bitset,facecount);
|
||||
//Callback is 0
|
||||
trimesh->m_update_callback = 0;
|
||||
//set to identity
|
||||
IDENTIFY_MATRIX_4X4(trimesh->m_transform);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//! Create a trimesh from vertex array and an index array
|
||||
/*!
|
||||
|
||||
\param trimesh An uninitialized GIM_TRIMESH structure
|
||||
\param vertex_array A buffer to a vec3f array
|
||||
\param vertex_count
|
||||
\param triindex_array
|
||||
\param index_count
|
||||
\param copy_vertices If 1, it copies the source vertices to another buffer. Else (0) it constructs a reference to the data.
|
||||
\param copy_indices If 1, it copies the source vertices to another buffer. Else (0) it constructs a reference to the data.
|
||||
\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else (0) it just is a reference to the original array.
|
||||
*/
|
||||
void gim_trimesh_create_from_data(GBUFFER_MANAGER_DATA buffer_managers[],
|
||||
GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT32 vertex_count,char copy_vertices,
|
||||
GUINT32 * triindex_array, GUINT32 index_count,char copy_indices,char transformed_reply)
|
||||
{
|
||||
GBUFFER_ARRAY buffer_vertex_array;
|
||||
GBUFFER_ARRAY buffer_triindex_array;
|
||||
|
||||
//Create vertices
|
||||
if(copy_vertices == 1)
|
||||
{
|
||||
gim_create_common_buffer_from_data(buffer_managers,
|
||||
vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);
|
||||
}
|
||||
else//Create a shared buffer
|
||||
{
|
||||
gim_create_shared_buffer_from_data(buffer_managers,
|
||||
vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);
|
||||
}
|
||||
GIM_BUFFER_ARRAY_INIT_TYPE(vec3f,buffer_vertex_array,buffer_vertex_array.m_buffer_id,vertex_count);
|
||||
|
||||
|
||||
//Create vertices
|
||||
if(copy_indices == 1)
|
||||
{
|
||||
gim_create_common_buffer_from_data(buffer_managers,
|
||||
triindex_array, index_count*sizeof(GUINT32), &buffer_triindex_array.m_buffer_id);
|
||||
}
|
||||
else//Create a shared buffer
|
||||
{
|
||||
gim_create_shared_buffer_from_data(buffer_managers,
|
||||
triindex_array, index_count*sizeof(GUINT32), &buffer_triindex_array.m_buffer_id);
|
||||
}
|
||||
GIM_BUFFER_ARRAY_INIT_TYPE(GUINT32,buffer_triindex_array,buffer_triindex_array.m_buffer_id,index_count);
|
||||
|
||||
gim_trimesh_create_from_arrays(buffer_managers, trimesh,
|
||||
&buffer_vertex_array, &buffer_triindex_array,transformed_reply);
|
||||
|
||||
///always call this after create a buffer_array
|
||||
GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);
|
||||
GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);
|
||||
}
|
||||
|
||||
//! Clears auxiliary data and releases buffer arrays
|
||||
void gim_trimesh_destroy(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
gim_aabbset_destroy(&trimesh->m_aabbset);
|
||||
|
||||
GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_buffer);
|
||||
GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_bitset);
|
||||
|
||||
GIM_BUFFER_ARRAY_DESTROY(trimesh->m_transformed_vertex_buffer);
|
||||
GIM_BUFFER_ARRAY_DESTROY(trimesh->m_source_vertex_buffer);
|
||||
GIM_BUFFER_ARRAY_DESTROY(trimesh->m_tri_index_buffer);
|
||||
}
|
||||
|
||||
//! Copies two meshes
|
||||
/*!
|
||||
\pre dest_trimesh shouldn't be created
|
||||
\post dest_trimesh will be created
|
||||
\param source_trimesh
|
||||
\param dest_trimesh
|
||||
\param copy_by_reference If 1, it attaches a reference to the source vertices, else it copies the vertices
|
||||
\param transformed_reply IF 1, then it forces the m_trasnformed_vertices to be a reply of the source vertices
|
||||
*/
|
||||
void gim_trimesh_copy(GIM_TRIMESH * source_trimesh,
|
||||
GBUFFER_MANAGER_DATA dest_buffer_managers[], GIM_TRIMESH * dest_trimesh,
|
||||
char copy_by_reference, char transformed_reply)
|
||||
{
|
||||
/* -- trimesh can not be copied by reference until GBUFFER_MANAGER_DATA is rewritten
|
||||
to be thread safe and until it is moved back to global variables.
|
||||
if(copy_by_reference==1)
|
||||
{
|
||||
gim_trimesh_create_from_arrays(dest_trimesh, &source_trimesh->m_source_vertex_buffer, &source_trimesh->m_tri_index_buffer,transformed_reply);
|
||||
}
|
||||
else
|
||||
*/
|
||||
{
|
||||
GBUFFER_ARRAY buffer_vertex_array;
|
||||
GBUFFER_ARRAY buffer_triindex_array;
|
||||
|
||||
gim_buffer_array_copy_value(&source_trimesh->m_source_vertex_buffer,
|
||||
dest_buffer_managers,&buffer_vertex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);
|
||||
|
||||
gim_buffer_array_copy_value(&source_trimesh->m_tri_index_buffer,
|
||||
dest_buffer_managers,&buffer_triindex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);
|
||||
|
||||
gim_trimesh_create_from_arrays(dest_buffer_managers, dest_trimesh,
|
||||
&buffer_vertex_array, &buffer_triindex_array,transformed_reply);
|
||||
|
||||
///always call this after create a buffer_array
|
||||
GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);
|
||||
GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);
|
||||
}
|
||||
}
|
||||
//! Locks the trimesh for working with it
|
||||
/*!
|
||||
\post locks m_tri_index_buffer and m_transformed_vertex_buffer.
|
||||
\param trimesh
|
||||
*/
|
||||
void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
GINT32 res;
|
||||
res=gim_buffer_array_lock(&trimesh->m_tri_index_buffer,G_MA_READ_ONLY);
|
||||
assert(res==G_BUFFER_OP_SUCCESS);
|
||||
res=gim_buffer_array_lock(&trimesh->m_transformed_vertex_buffer,G_MA_READ_ONLY);
|
||||
assert(res==G_BUFFER_OP_SUCCESS);
|
||||
}
|
||||
|
||||
//! unlocks the trimesh
|
||||
/*!
|
||||
\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer.
|
||||
\param trimesh
|
||||
*/
|
||||
void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
gim_buffer_array_unlock(&trimesh->m_tri_index_buffer);
|
||||
gim_buffer_array_unlock(&trimesh->m_transformed_vertex_buffer);
|
||||
}
|
||||
|
||||
|
||||
//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer
|
||||
char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
if(trimesh->m_mask&GIM_TRIMESH_TRANSFORMED_REPLY) return 1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
//! Returns 1 if the trimesh needs to update their aabbset and the planes cache.
|
||||
char gim_trimesh_needs_update(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
if(trimesh->m_mask&GIM_TRIMESH_NEED_UPDATE) return 1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
//! Change the state of the trimesh for force it to update
|
||||
/*!
|
||||
Call it after having made changes to the trimesh.
|
||||
\post gim_trimesh_need_update(trimesh) will return 1
|
||||
*/
|
||||
void gim_trimesh_post_update(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
trimesh->m_mask |= GIM_TRIMESH_NEED_UPDATE;
|
||||
}
|
||||
|
||||
//kernel
|
||||
#define MULT_MAT_VEC4_KERNEL(_mat,_src,_dst) MAT_DOT_VEC_3X4((_dst),(_mat),(_src))
|
||||
|
||||
//! Updates m_transformed_vertex_buffer
|
||||
/*!
|
||||
\pre m_transformed_vertex_buffer must be unlocked
|
||||
*/
|
||||
void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
if(gim_trimesh_has_tranformed_reply(trimesh) == 0) return; //Don't perform transformation
|
||||
|
||||
//Vertices
|
||||
GBUFFER_ARRAY * psource_vertex_buffer = &trimesh->m_source_vertex_buffer;
|
||||
GBUFFER_ARRAY * ptransformed_vertex_buffer = &trimesh->m_transformed_vertex_buffer;
|
||||
//Temp transform
|
||||
mat4f transform;
|
||||
COPY_MATRIX_4X4(transform,trimesh->m_transform);
|
||||
|
||||
GIM_PROCESS_BUFFER_ARRAY(transform,(*psource_vertex_buffer),(*ptransformed_vertex_buffer),MULT_MAT_VEC4_KERNEL,vec3f,vec3f);
|
||||
}
|
||||
|
||||
//! Updates m_aabbset and m_planes_cache_bitset
|
||||
/*!
|
||||
\pre gim_trimesh_locks_work_data must be called before
|
||||
*/
|
||||
void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);
|
||||
assert(transformed_vertices);
|
||||
|
||||
GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,0);
|
||||
assert(triangle_indices);
|
||||
// box set
|
||||
aabb3f * paabb = trimesh->m_aabbset.m_boxes;
|
||||
GUINT32 triangle_count = gim_trimesh_get_triangle_count(trimesh);
|
||||
float * v1,*v2,*v3;
|
||||
GUINT32 i;
|
||||
for (i=0; i<triangle_count;i++)
|
||||
{
|
||||
v1 = &transformed_vertices[triangle_indices[0]][0];
|
||||
v2 = &transformed_vertices[triangle_indices[1]][0];
|
||||
v3 = &transformed_vertices[triangle_indices[2]][0];
|
||||
COMPUTEAABB_FOR_TRIANGLE((*paabb),v1,v2,v3);
|
||||
triangle_indices+=3;
|
||||
paabb++;
|
||||
}
|
||||
//Clear planes cache
|
||||
GIM_BITSET_CLEAR_ALL(trimesh->m_planes_cache_bitset);
|
||||
//Sorts set
|
||||
gim_aabbset_update(&trimesh->m_aabbset);
|
||||
}
|
||||
|
||||
//! Updates the trimesh if needed
|
||||
/*!
|
||||
\post If gim_trimesh_needs_update returns 1, then it calls gim_trimesh_update_vertices and gim_trimesh_update_aabbset
|
||||
*/
|
||||
void gim_trimesh_update(GIM_TRIMESH * trimesh)
|
||||
{
|
||||
if(gim_trimesh_needs_update(trimesh)==0) return;
|
||||
gim_trimesh_update_vertices(trimesh);
|
||||
gim_trimesh_locks_work_data(trimesh);
|
||||
gim_trimesh_update_aabbset(trimesh);
|
||||
gim_trimesh_unlocks_work_data(trimesh);
|
||||
|
||||
//Clear update flag
|
||||
trimesh->m_mask &= ~GIM_TRIMESH_NEED_UPDATE;
|
||||
}
|
||||
|
||||
void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform)
|
||||
{
|
||||
GREAL diff = 0.0f;
|
||||
float * originaltrans = &trimesh->m_transform[0][0];
|
||||
float * newtrans = &transform[0][0];
|
||||
GUINT32 i;
|
||||
for (i=0;i<16;i++)
|
||||
{
|
||||
diff += fabs(originaltrans[i]-newtrans[i]);
|
||||
}
|
||||
|
||||
// if(IS_ZERO(diff)) return ;///don't need to update
|
||||
if(diff< 0.00001f) return ;///don't need to update
|
||||
|
||||
COPY_MATRIX_4X4(trimesh->m_transform,transform);
|
||||
|
||||
gim_trimesh_post_update(trimesh);
|
||||
}
|
||||
|
||||
void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT32 triangle_index, GIM_TRIANGLE_DATA * tri_data)
|
||||
{
|
||||
vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);
|
||||
|
||||
GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,triangle_index*3);
|
||||
|
||||
|
||||
//Copy the vertices
|
||||
VEC_COPY(tri_data->m_vertices[0],transformed_vertices[triangle_indices[0]]);
|
||||
VEC_COPY(tri_data->m_vertices[1],transformed_vertices[triangle_indices[1]]);
|
||||
VEC_COPY(tri_data->m_vertices[2],transformed_vertices[triangle_indices[2]]);
|
||||
|
||||
//Get the planes
|
||||
GIM_TRIPLANES_CACHE * planes = GIM_DYNARRAY_POINTER(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer);
|
||||
planes += triangle_index;
|
||||
|
||||
//verify planes cache
|
||||
GUINT32 bit_eval;
|
||||
GIM_BITSET_GET(trimesh->m_planes_cache_bitset,triangle_index,bit_eval);
|
||||
if(bit_eval == 0)// Needs to calc the planes
|
||||
{
|
||||
//Calc the face plane
|
||||
TRIANGLE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],tri_data->m_vertices[2],planes->m_planes[0]);
|
||||
//Calc the edge 1
|
||||
EDGE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],(planes->m_planes[0]),(planes->m_planes[1]));
|
||||
|
||||
//Calc the edge 2
|
||||
EDGE_PLANE(tri_data->m_vertices[1],tri_data->m_vertices[2],(planes->m_planes[0]),(planes->m_planes[2]));
|
||||
|
||||
//Calc the edge 3
|
||||
EDGE_PLANE(tri_data->m_vertices[2],tri_data->m_vertices[0],(planes->m_planes[0]), (planes->m_planes[3]));
|
||||
|
||||
//mark
|
||||
GIM_BITSET_SET(trimesh->m_planes_cache_bitset,triangle_index);
|
||||
}
|
||||
|
||||
|
||||
VEC_COPY_4((tri_data->m_planes.m_planes[0]),(planes->m_planes[0]));//face plane
|
||||
VEC_COPY_4((tri_data->m_planes.m_planes[1]),(planes->m_planes[1]));//edge1
|
||||
VEC_COPY_4((tri_data->m_planes.m_planes[2]),(planes->m_planes[2]));//edge2
|
||||
VEC_COPY_4((tri_data->m_planes.m_planes[3]),(planes->m_planes[3]));//edge3
|
||||
}
|
||||
|
||||
void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT32 triangle_index, vec3f v1, vec3f v2, vec3f v3)
|
||||
{
|
||||
vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);
|
||||
|
||||
GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,triangle_index*3);
|
||||
|
||||
//Copy the vertices
|
||||
if (v1 != NULL)
|
||||
{
|
||||
VEC_COPY(v1,transformed_vertices[triangle_indices[0]]);
|
||||
}
|
||||
|
||||
if (v2 != NULL)
|
||||
{
|
||||
VEC_COPY(v2,transformed_vertices[triangle_indices[1]]);
|
||||
}
|
||||
|
||||
if (v3 != NULL)
|
||||
{
|
||||
VEC_COPY(v3,transformed_vertices[triangle_indices[2]]);
|
||||
}
|
||||
}
|
||||
285
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh_capsule_collision.cpp
vendored
Normal file
285
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh_capsule_collision.cpp
vendored
Normal file
@@ -0,0 +1,285 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "GIMPACT/gim_trimesh.h"
|
||||
|
||||
//! Utility function to find the closest point between a segment and a triangle
|
||||
/*!
|
||||
|
||||
\param triangle
|
||||
\param s1
|
||||
\param s2
|
||||
\param contacts Contains the closest points on the segment (1,2), and the normal points to segment, and m_depth contains the distance
|
||||
|
||||
\post The contacts array is not set to 0. It adds additional contacts
|
||||
*/
|
||||
void gim_closest_point_triangle_segment(GIM_TRIANGLE_DATA * triangle, vec3f s1,vec3f s2, GDYNAMIC_ARRAY * contacts)
|
||||
{
|
||||
vec3f segment_points[4] = {{0}};
|
||||
vec3f closest_points[2] = {{0}};
|
||||
GUINT32 intersection_type, out_edge= 10;
|
||||
GREAL dis, dis_temp,perpend;
|
||||
vec4f sdiff;
|
||||
|
||||
dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s1);
|
||||
dis_temp = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s2);
|
||||
|
||||
if(dis<=0.0f && dis_temp<=0.0f) return;
|
||||
|
||||
VEC_DIFF(sdiff,s2,s1);
|
||||
perpend = VEC_DOT(sdiff,triangle->m_planes.m_planes[0]);
|
||||
|
||||
if(!IS_ZERO(perpend)) // Not perpendicular
|
||||
{
|
||||
if(dis<dis_temp)
|
||||
{
|
||||
VEC_COPY(closest_points[0],s1);
|
||||
}
|
||||
else
|
||||
{
|
||||
dis = dis_temp;
|
||||
VEC_COPY(closest_points[0],s2);
|
||||
}
|
||||
|
||||
//Testing segment vertices over triangle
|
||||
if(dis>=0.0f && dis_temp>=0.0f)
|
||||
{
|
||||
POINT_IN_HULL(closest_points[0],(&triangle->m_planes.m_planes[1]),3,out_edge);
|
||||
|
||||
if(out_edge==0)//Point over face
|
||||
{
|
||||
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
|
||||
return;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
PLANE_CLIP_SEGMENT(s1,s2,triangle->m_planes.m_planes[0],closest_points[1]);
|
||||
|
||||
POINT_IN_HULL(closest_points[1],(&triangle->m_planes.m_planes[1]),3,out_edge);
|
||||
|
||||
if(out_edge==0)//Point over face
|
||||
{
|
||||
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
else // Perpendicular Face
|
||||
{
|
||||
//out_edge=10
|
||||
//Clip segment by triangle
|
||||
// Edge1
|
||||
PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,triangle->m_planes.m_planes[1],segment_points[0],segment_points[1],intersection_type);
|
||||
if(intersection_type==0||intersection_type==1)
|
||||
{
|
||||
out_edge = 0;
|
||||
VEC_COPY(closest_points[0],segment_points[0]);
|
||||
}
|
||||
else
|
||||
{
|
||||
//Edge2
|
||||
PLANE_CLIP_SEGMENT_CLOSEST(segment_points[0],segment_points[1],triangle->m_planes.m_planes[2],segment_points[2],segment_points[3],intersection_type);
|
||||
if(intersection_type==0||intersection_type==1)
|
||||
{
|
||||
out_edge = 1;
|
||||
VEC_COPY(closest_points[0],segment_points[3]);
|
||||
}
|
||||
else
|
||||
{
|
||||
//Edge3
|
||||
PLANE_CLIP_SEGMENT_CLOSEST(segment_points[2],segment_points[3],triangle->m_planes.m_planes[3],closest_points[0],closest_points[1],intersection_type);
|
||||
if(intersection_type==0||intersection_type==1)
|
||||
{
|
||||
out_edge = 2;
|
||||
}
|
||||
}
|
||||
}
|
||||
//POST closest_points[0] and closest_points[1] are inside the triangle, if out_edge>2
|
||||
if(out_edge>2) // Over triangle
|
||||
{
|
||||
dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],closest_points[0]);
|
||||
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
|
||||
GIM_PUSH_CONTACT((*contacts),closest_points[1] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
//Find closest edges
|
||||
out_edge = 10;
|
||||
dis = G_REAL_INFINITY;
|
||||
GUINT32 i;
|
||||
for(i=0;i<3;i++)
|
||||
{
|
||||
SEGMENT_COLLISION(s1,s2,triangle->m_vertices[i],triangle->m_vertices[(i+1)%3],segment_points[0],segment_points[1]);
|
||||
VEC_DIFF(sdiff,segment_points[0],segment_points[1]);
|
||||
dis_temp = VEC_DOT(sdiff,sdiff);
|
||||
if(dis_temp< dis)
|
||||
{
|
||||
dis = dis_temp;
|
||||
out_edge = i;
|
||||
VEC_COPY(closest_points[0],segment_points[0]);
|
||||
VEC_COPY(closest_points[1],sdiff);//normal
|
||||
}
|
||||
}
|
||||
if(out_edge>2) return ;// ???? ASSERT this please
|
||||
|
||||
if(IS_ZERO(dis))
|
||||
{
|
||||
//Set face plane
|
||||
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,0.0f,0, 0, 0,0);
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
GIM_SQRT(dis,dis);
|
||||
VEC_SCALE(closest_points[1],(1.0f/dis),closest_points[1]);//normal
|
||||
GIM_PUSH_CONTACT((*contacts),closest_points[0] ,closest_points[1],dis,0, 0, 0,0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//! Utility function to find the closest point between a capsule and a triangle
|
||||
/*!
|
||||
|
||||
\param triangle
|
||||
\param capsule
|
||||
\param contacts Contains the closest points on the capsule, and the normal points to triangle
|
||||
|
||||
\post The contacts array is not set to 0. It adds additional contacts
|
||||
*/
|
||||
int gim_triangle_capsule_collision(GIM_TRIANGLE_DATA * triangle, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts)
|
||||
{
|
||||
GUINT32 old_contact_size = contacts->m_size;
|
||||
gim_closest_point_triangle_segment(triangle,capsule->m_point1,capsule->m_point2,contacts);
|
||||
|
||||
if (contacts->m_size == old_contact_size)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
GIM_CONTACT * pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,(*contacts));
|
||||
pcontact+= old_contact_size;
|
||||
|
||||
if(pcontact->m_depth > capsule->m_radius)
|
||||
{
|
||||
contacts->m_size = old_contact_size;
|
||||
return 0;
|
||||
}
|
||||
|
||||
vec3f vec;
|
||||
while(old_contact_size<contacts->m_size)
|
||||
{
|
||||
//Scale the normal for pointing to triangle
|
||||
VEC_SCALE(pcontact->m_normal,-1.0f,pcontact->m_normal);
|
||||
//Fix the contact point
|
||||
VEC_SCALE(vec,capsule->m_radius,pcontact->m_normal);
|
||||
VEC_SUM(pcontact->m_point,vec,pcontact->m_point);
|
||||
//Fix the depth
|
||||
pcontact->m_depth = capsule->m_radius - pcontact->m_depth;
|
||||
|
||||
pcontact++;
|
||||
old_contact_size++;
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
//! Trimesh Capsule collision
|
||||
/*!
|
||||
Finds the closest primitive collided by the ray
|
||||
\param trimesh
|
||||
\param capsule
|
||||
\param contact
|
||||
\param contacts A GIM_CONTACT array. Must be initialized
|
||||
*/
|
||||
void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts)
|
||||
{
|
||||
contacts->m_size = 0;
|
||||
|
||||
aabb3f test_aabb;
|
||||
CALC_CAPSULE_AABB((*capsule),test_aabb);
|
||||
|
||||
GDYNAMIC_ARRAY collision_result;
|
||||
GIM_CREATE_BOXQUERY_LIST(collision_result);
|
||||
|
||||
gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);
|
||||
|
||||
if(collision_result.m_size==0)
|
||||
{
|
||||
GIM_DYNARRAY_DESTROY(collision_result);
|
||||
}
|
||||
|
||||
//collide triangles
|
||||
//Locks trimesh
|
||||
gim_trimesh_locks_work_data(trimesh);
|
||||
//dummy contacts
|
||||
GDYNAMIC_ARRAY dummycontacts;
|
||||
GIM_CREATE_CONTACT_LIST(dummycontacts);
|
||||
|
||||
int cresult;
|
||||
unsigned int i;
|
||||
GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
|
||||
GIM_TRIANGLE_DATA tri_data;
|
||||
GUINT32 old_contact_size;
|
||||
GIM_CONTACT * pcontact;
|
||||
|
||||
for(i=0;i<collision_result.m_size;i++)
|
||||
{
|
||||
old_contact_size = dummycontacts.m_size;
|
||||
gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);
|
||||
cresult = gim_triangle_capsule_collision(&tri_data, capsule, &dummycontacts);
|
||||
if(cresult!=0)
|
||||
{
|
||||
pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,dummycontacts);
|
||||
pcontact+= old_contact_size;
|
||||
while(old_contact_size<dummycontacts.m_size)
|
||||
{
|
||||
pcontact->m_handle1 = trimesh;
|
||||
pcontact->m_handle2 = capsule;
|
||||
pcontact->m_feature1 = boxesresult[i];
|
||||
pcontact->m_feature2 = 0;
|
||||
pcontact++;
|
||||
old_contact_size++;
|
||||
}
|
||||
}
|
||||
}
|
||||
///unlocks
|
||||
gim_trimesh_unlocks_work_data(trimesh);
|
||||
///Destroy box result
|
||||
GIM_DYNARRAY_DESTROY(collision_result);
|
||||
|
||||
//merge contacts
|
||||
gim_merge_contacts(&dummycontacts,contacts);
|
||||
|
||||
//Destroy dummy
|
||||
GIM_DYNARRAY_DESTROY(dummycontacts);
|
||||
}
|
||||
149
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh_ray_collision.cpp
vendored
Normal file
149
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh_ray_collision.cpp
vendored
Normal file
@@ -0,0 +1,149 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 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);
|
||||
|
||||
gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);
|
||||
|
||||
if(collision_result.m_size==0)
|
||||
{
|
||||
GIM_DYNARRAY_DESTROY(collision_result);
|
||||
return 0;
|
||||
}
|
||||
|
||||
//collide triangles
|
||||
|
||||
GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,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);
|
||||
|
||||
// flip plane for correct result in ODE
|
||||
// for more info: martijn@bytehazard.com
|
||||
vec4f flippedPlane;
|
||||
VEC_SCALE_4(flippedPlane, -1.0f, tridata.m_planes.m_planes[0]);
|
||||
|
||||
RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],flippedPlane,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,flippedPlane);
|
||||
|
||||
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
|
||||
/*!
|
||||
Finds 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);
|
||||
|
||||
gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);
|
||||
|
||||
if(collision_result.m_size==0)
|
||||
{
|
||||
GIM_DYNARRAY_DESTROY(collision_result);
|
||||
return 0;
|
||||
}
|
||||
|
||||
//collide triangles
|
||||
|
||||
GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,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);
|
||||
|
||||
// flip plane for correct result in ODE
|
||||
// for more info: martijn@bytehazard.com
|
||||
vec4f flippedPlane;
|
||||
VEC_SCALE_4(flippedPlane, -1.0f, tridata.m_planes.m_planes[0]);
|
||||
|
||||
RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],flippedPlane,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,flippedPlane);
|
||||
}
|
||||
}
|
||||
|
||||
gim_trimesh_unlocks_work_data(trimesh);
|
||||
GIM_DYNARRAY_DESTROY(collision_result);
|
||||
if(contact->tparam > tmax) return 0;
|
||||
return 1;
|
||||
}
|
||||
196
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh_sphere_collision.cpp
vendored
Normal file
196
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh_sphere_collision.cpp
vendored
Normal file
@@ -0,0 +1,196 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "GIMPACT/gim_trimesh.h"
|
||||
|
||||
int gim_triangle_sphere_collision(
|
||||
GIM_TRIANGLE_DATA *tri,
|
||||
vec3f center, GREAL radius,
|
||||
GIM_TRIANGLE_CONTACT_DATA * contact_data)
|
||||
{
|
||||
contact_data->m_point_count = 0;
|
||||
|
||||
//Find Face plane distance
|
||||
GREAL dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[0],center);
|
||||
if(dis>radius) return 0; //out
|
||||
if(dis<-radius) return 0;//Out of triangle
|
||||
contact_data->m_penetration_depth = dis;
|
||||
|
||||
//Find the most edge
|
||||
GUINT32 most_edge = 4;//no edge
|
||||
GREAL max_dis = 0.0f;
|
||||
dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[1],center);
|
||||
if(dis>radius) return 0;//Out of triangle
|
||||
if(dis>0.0f)
|
||||
{
|
||||
max_dis = dis;
|
||||
most_edge = 0;
|
||||
}
|
||||
|
||||
dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[2],center);
|
||||
if(dis>radius) return 0;//Out of triangle
|
||||
if(dis>max_dis)// && dis>0.0f)
|
||||
{
|
||||
max_dis = dis;
|
||||
most_edge = 1;
|
||||
}
|
||||
|
||||
dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[3],center);
|
||||
if(dis>radius) return 0;//Out of triangle
|
||||
if(dis>max_dis)// && dis>0.0f)
|
||||
{
|
||||
max_dis = dis;
|
||||
most_edge = 2;
|
||||
}
|
||||
|
||||
if(most_edge == 4) //Box is into triangle
|
||||
{
|
||||
//contact_data->m_penetration_depth = dis is set above
|
||||
//Find Face plane point
|
||||
VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[0]);
|
||||
//Find point projection on plane
|
||||
if(contact_data->m_penetration_depth>=0.0f)
|
||||
{
|
||||
VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);
|
||||
}
|
||||
else
|
||||
{
|
||||
VEC_SCALE(contact_data->m_points[0],radius,contact_data->m_separating_normal);
|
||||
}
|
||||
contact_data->m_penetration_depth = radius - contact_data->m_penetration_depth;
|
||||
|
||||
VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);
|
||||
//Scale normal for pointing to triangle
|
||||
VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal);
|
||||
contact_data->m_point_count = 1;
|
||||
return 1;
|
||||
}
|
||||
//find the edge
|
||||
vec3f e1,e2;
|
||||
VEC_COPY(e1,tri->m_vertices[most_edge]);
|
||||
VEC_COPY(e2,tri->m_vertices[(most_edge+1)%3]);
|
||||
|
||||
CLOSEST_POINT_ON_SEGMENT(contact_data->m_points[0],center,e1,e2);
|
||||
//find distance
|
||||
VEC_DIFF(e1,center,contact_data->m_points[0]);
|
||||
VEC_LENGTH(e1,dis);
|
||||
if(dis>radius) return 0;
|
||||
|
||||
contact_data->m_penetration_depth = radius - dis;
|
||||
|
||||
if(IS_ZERO(dis))
|
||||
{
|
||||
VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[most_edge+1]);
|
||||
VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);
|
||||
VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);
|
||||
}
|
||||
else
|
||||
{
|
||||
VEC_SCALE(contact_data->m_separating_normal,1.0f/dis,e1);
|
||||
VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);
|
||||
VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);
|
||||
}
|
||||
|
||||
//Scale normal for pointing to triangle
|
||||
VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal);
|
||||
|
||||
contact_data->m_point_count = 1;
|
||||
return 1;
|
||||
|
||||
}
|
||||
|
||||
//! Trimesh Sphere Collisions
|
||||
/*!
|
||||
In each contact
|
||||
<ul>
|
||||
<li> m_handle1 points to trimesh.
|
||||
<li> m_handle2 points to NULL.
|
||||
<li> m_feature1 Is a triangle index of trimesh.
|
||||
</ul>
|
||||
|
||||
\param trimesh
|
||||
\param center
|
||||
\param radius
|
||||
\param contacts A GIM_CONTACT array. Must be initialized
|
||||
*/
|
||||
void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts)
|
||||
{
|
||||
contacts->m_size = 0;
|
||||
|
||||
aabb3f test_aabb;
|
||||
test_aabb.minX = center[0]-radius;
|
||||
test_aabb.maxX = center[0]+radius;
|
||||
test_aabb.minY = center[1]-radius;
|
||||
test_aabb.maxY = center[1]+radius;
|
||||
test_aabb.minZ = center[2]-radius;
|
||||
test_aabb.maxZ = center[2]+radius;
|
||||
|
||||
GDYNAMIC_ARRAY collision_result;
|
||||
GIM_CREATE_BOXQUERY_LIST(collision_result);
|
||||
|
||||
gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);
|
||||
|
||||
if(collision_result.m_size==0)
|
||||
{
|
||||
GIM_DYNARRAY_DESTROY(collision_result);
|
||||
}
|
||||
|
||||
//collide triangles
|
||||
//Locks trimesh
|
||||
gim_trimesh_locks_work_data(trimesh);
|
||||
//dummy contacts
|
||||
GDYNAMIC_ARRAY dummycontacts;
|
||||
GIM_CREATE_CONTACT_LIST(dummycontacts);
|
||||
|
||||
int cresult;
|
||||
unsigned int i;
|
||||
GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
|
||||
GIM_TRIANGLE_CONTACT_DATA tri_contact_data;
|
||||
GIM_TRIANGLE_DATA tri_data;
|
||||
|
||||
for(i=0;i<collision_result.m_size;i++)
|
||||
{
|
||||
gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);
|
||||
cresult = gim_triangle_sphere_collision(&tri_data,center,radius,&tri_contact_data);
|
||||
if(cresult!=0)
|
||||
{
|
||||
GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[0],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh, 0, boxesresult[i],0);
|
||||
}
|
||||
}
|
||||
///unlocks
|
||||
gim_trimesh_unlocks_work_data(trimesh);
|
||||
///Destroy box result
|
||||
GIM_DYNARRAY_DESTROY(collision_result);
|
||||
|
||||
//merge contacts
|
||||
gim_merge_contacts(&dummycontacts,contacts);
|
||||
|
||||
//Destroy dummy
|
||||
GIM_DYNARRAY_DESTROY(dummycontacts);
|
||||
}
|
||||
|
||||
348
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh_trimesh_collision.cpp
vendored
Normal file
348
thirdparty/ode-0.16.5/GIMPACT/src/gim_trimesh_trimesh_collision.cpp
vendored
Normal file
@@ -0,0 +1,348 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "GIMPACT/gim_trimesh.h"
|
||||
|
||||
#define CLASSIFY_TRI_BY_FACE(v1,v2,v3,faceplane,out_of_face)\
|
||||
{ \
|
||||
_distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\
|
||||
_distances[1] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\
|
||||
_distances[2] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \
|
||||
if(_distances[1]>0.0f && _distances[2]>0.0f)\
|
||||
{\
|
||||
out_of_face = 1;\
|
||||
}\
|
||||
else\
|
||||
{\
|
||||
out_of_face = 0;\
|
||||
}\
|
||||
}\
|
||||
|
||||
|
||||
//! Receives the 3 edge planes
|
||||
#define MOST_DEEP_POINTS(plane,points,point_count,deep_points,deep_points_count,maxdeep)\
|
||||
{\
|
||||
maxdeep=-1000.0f;\
|
||||
GUINT32 _k;\
|
||||
GREAL _dist;\
|
||||
deep_points_count = 0;\
|
||||
for(_k=0;_k<point_count;_k++)\
|
||||
{\
|
||||
_dist = -DISTANCE_PLANE_POINT(plane,points[_k]);\
|
||||
if(_dist>maxdeep)\
|
||||
{\
|
||||
maxdeep = _dist;\
|
||||
_max_candidates[0] = _k;\
|
||||
deep_points_count=1;\
|
||||
}\
|
||||
else if((_dist+G_EPSILON)>=maxdeep)\
|
||||
{\
|
||||
_max_candidates[deep_points_count] = _k;\
|
||||
deep_points_count++;\
|
||||
}\
|
||||
}\
|
||||
if(maxdeep<0.0f)\
|
||||
{\
|
||||
deep_points_count = 0;\
|
||||
}\
|
||||
else\
|
||||
{\
|
||||
for(_k=0;_k<deep_points_count;_k++)\
|
||||
{\
|
||||
VEC_COPY(deep_points[_k],points[_max_candidates[_k]]);\
|
||||
}\
|
||||
}\
|
||||
}\
|
||||
|
||||
//! Receives the 3 edge planes
|
||||
#define CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri_points,tri_edge_planes, clipped_points, clipped_point_count)\
|
||||
{\
|
||||
clipped_point_count = 0; \
|
||||
_temp_clip_count = 0;\
|
||||
PLANE_CLIP_POLYGON(tri_edge_planes[0],tri_points,3,_temp_clip,_temp_clip_count,MAX_TRI_CLIPPING);\
|
||||
if(_temp_clip_count>0)\
|
||||
{\
|
||||
_temp_clip_count2 = 0;\
|
||||
PLANE_CLIP_POLYGON(tri_edge_planes[1],_temp_clip,_temp_clip_count,_temp_clip2,_temp_clip_count2,MAX_TRI_CLIPPING);\
|
||||
if(_temp_clip_count2>0)\
|
||||
{\
|
||||
PLANE_CLIP_POLYGON(tri_edge_planes[2],_temp_clip2,_temp_clip_count2,clipped_points,clipped_point_count,MAX_TRI_CLIPPING);\
|
||||
}\
|
||||
}\
|
||||
}\
|
||||
|
||||
|
||||
|
||||
int _gim_triangle_triangle_collision(
|
||||
GIM_TRIANGLE_DATA *tri1,
|
||||
GIM_TRIANGLE_DATA *tri2,
|
||||
GIM_TRIANGLE_CONTACT_DATA * contact_data)
|
||||
{
|
||||
//Cache variables for triangle intersection
|
||||
GUINT32 _max_candidates[MAX_TRI_CLIPPING];
|
||||
vec3f _temp_clip[MAX_TRI_CLIPPING];
|
||||
GUINT32 _temp_clip_count = 0;
|
||||
vec3f _temp_clip2[MAX_TRI_CLIPPING];
|
||||
GUINT32 _temp_clip_count2 = 0;
|
||||
vec3f clipped_points2[MAX_TRI_CLIPPING];
|
||||
vec3f deep_points2[MAX_TRI_CLIPPING];
|
||||
vec3f clipped_points1[MAX_TRI_CLIPPING];
|
||||
vec3f deep_points1[MAX_TRI_CLIPPING];
|
||||
|
||||
|
||||
|
||||
//State variables
|
||||
GUINT32 mostdir=0;
|
||||
GUINT32 clipped2_count=0;
|
||||
|
||||
//Clip tri2 by tri1 edges
|
||||
|
||||
CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri2->m_vertices,(&tri1->m_planes.m_planes[1]), clipped_points2, clipped2_count);
|
||||
|
||||
if(clipped2_count == 0 )
|
||||
{
|
||||
return 0;//Reject
|
||||
}
|
||||
|
||||
//find deepest interval face1
|
||||
GUINT32 deep2_count=0;
|
||||
|
||||
GREAL maxdeep;
|
||||
|
||||
MOST_DEEP_POINTS((tri1->m_planes.m_planes[0]), clipped_points2, clipped2_count, deep_points2, deep2_count, maxdeep);
|
||||
if(deep2_count==0)
|
||||
{
|
||||
// *perror = 0.0f;
|
||||
return 0;//Reject
|
||||
}
|
||||
|
||||
//Normal pointing to triangle1
|
||||
VEC_SCALE(contact_data->m_separating_normal,-1.0f,(tri1->m_planes.m_planes[0]));
|
||||
|
||||
|
||||
//Clip tri1 by tri2 edges
|
||||
|
||||
GUINT32 clipped1_count=0;
|
||||
|
||||
CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri1->m_vertices,(&tri2->m_planes.m_planes[1]), clipped_points1, clipped1_count);
|
||||
|
||||
if(clipped2_count == 0 )
|
||||
{
|
||||
// *perror = 0.0f;
|
||||
return 0;//Reject
|
||||
}
|
||||
|
||||
|
||||
//find interval face2
|
||||
GUINT32 deep1_count=0;
|
||||
|
||||
GREAL dist;
|
||||
|
||||
MOST_DEEP_POINTS((tri2->m_planes.m_planes[0]), clipped_points1, clipped1_count, deep_points1, deep1_count, dist);
|
||||
|
||||
if(deep1_count==0)
|
||||
{
|
||||
// *perror = 0.0f;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if(dist<maxdeep)
|
||||
{
|
||||
maxdeep = dist;
|
||||
mostdir = 1;
|
||||
VEC_COPY(contact_data->m_separating_normal,(tri2->m_planes.m_planes[0]));
|
||||
}
|
||||
//set deep
|
||||
contact_data->m_penetration_depth = maxdeep;
|
||||
|
||||
////check most dir for contacts
|
||||
if(mostdir==0)
|
||||
{
|
||||
contact_data->m_point_count = deep2_count;
|
||||
for(mostdir=0;mostdir<deep2_count;mostdir++)
|
||||
{
|
||||
VEC_COPY(contact_data->m_points[mostdir] ,deep_points2[mostdir]);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
contact_data->m_point_count = deep1_count;
|
||||
for(mostdir=0;mostdir<deep1_count;mostdir++)
|
||||
{
|
||||
VEC_COPY(contact_data->m_points[mostdir] ,deep_points1[mostdir]);
|
||||
}
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//! Finds the contact points from a collision of two triangles
|
||||
/*!
|
||||
Returns the contact points, the penetration depth and the separating normal of the collision
|
||||
between two triangles. The normal is pointing toward triangle 1 from triangle 2
|
||||
*/
|
||||
int gim_triangle_triangle_collision(
|
||||
GIM_TRIANGLE_DATA *tri1,
|
||||
GIM_TRIANGLE_DATA *tri2,
|
||||
GIM_TRIANGLE_CONTACT_DATA * contact_data)
|
||||
{
|
||||
vec3f _distances;
|
||||
char out_of_face=0;
|
||||
|
||||
CLASSIFY_TRI_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);
|
||||
if(out_of_face==1) return 0;
|
||||
|
||||
CLASSIFY_TRI_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);
|
||||
if(out_of_face==1) return 0;
|
||||
|
||||
return _gim_triangle_triangle_collision(tri1,tri2,contact_data);
|
||||
}
|
||||
|
||||
//! Trimesh Trimesh Collisions
|
||||
/*!
|
||||
|
||||
In each contact
|
||||
<ul>
|
||||
<li> m_handle1 points to trimesh1.
|
||||
<li> m_handle2 points to trimesh2.
|
||||
<li> m_feature1 Is a triangle index of trimesh1.
|
||||
<li> m_feature2 Is a triangle index of trimesh2.
|
||||
</ul>
|
||||
|
||||
\param trimesh1 Collider
|
||||
\param trimesh2 Collidee
|
||||
\param contacts A GIM_CONTACT array. Must be initialized
|
||||
*/
|
||||
void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts)
|
||||
{
|
||||
contacts->m_size = 0;
|
||||
GDYNAMIC_ARRAY collision_pairs;
|
||||
GIM_CREATE_PAIR_SET(collision_pairs)
|
||||
|
||||
gim_aabbset_bipartite_intersections(&trimesh1->m_aabbset,&trimesh2->m_aabbset,&collision_pairs);
|
||||
|
||||
if(collision_pairs.m_size==0)
|
||||
{
|
||||
GIM_DYNARRAY_DESTROY(collision_pairs);
|
||||
return; //no collisioin
|
||||
}
|
||||
|
||||
//Locks meshes
|
||||
gim_trimesh_locks_work_data(trimesh1);
|
||||
gim_trimesh_locks_work_data(trimesh2);
|
||||
|
||||
|
||||
//pair pointer
|
||||
GIM_PAIR *pairs = GIM_DYNARRAY_POINTER(GIM_PAIR,collision_pairs);
|
||||
//dummy contacts
|
||||
GDYNAMIC_ARRAY dummycontacts;
|
||||
GIM_CREATE_CONTACT_LIST(dummycontacts);
|
||||
|
||||
//Auxiliary triangle data
|
||||
GIM_TRIANGLE_CONTACT_DATA tri_contact_data;
|
||||
GIM_TRIANGLE_DATA tri1data,tri2data;
|
||||
|
||||
|
||||
GUINT32 i, ti1,ti2,ci;
|
||||
int colresult;
|
||||
for (i=0;i<collision_pairs.m_size; i++)
|
||||
{
|
||||
ti1 = pairs[i].m_index1;
|
||||
ti2 = pairs[i].m_index2;
|
||||
//Get triangles data
|
||||
gim_trimesh_get_triangle_data(trimesh1,ti1,&tri1data);
|
||||
gim_trimesh_get_triangle_data(trimesh2,ti2,&tri2data);
|
||||
|
||||
//collide triangles
|
||||
colresult = gim_triangle_triangle_collision(&tri1data,&tri2data,&tri_contact_data);
|
||||
if(colresult == 1)
|
||||
{
|
||||
//Add contacts
|
||||
for (ci=0;ci<tri_contact_data.m_point_count ;ci++ )
|
||||
{
|
||||
GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[ci],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh1, trimesh2, ti1, ti2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if(dummycontacts.m_size == 0) //reject
|
||||
{
|
||||
GIM_DYNARRAY_DESTROY(dummycontacts);
|
||||
GIM_DYNARRAY_DESTROY(collision_pairs);
|
||||
return;
|
||||
}
|
||||
//merge contacts
|
||||
gim_merge_contacts(&dummycontacts,contacts);
|
||||
|
||||
//Terminate
|
||||
GIM_DYNARRAY_DESTROY(dummycontacts);
|
||||
GIM_DYNARRAY_DESTROY(collision_pairs);
|
||||
|
||||
//Unlocks meshes
|
||||
gim_trimesh_unlocks_work_data(trimesh1);
|
||||
gim_trimesh_unlocks_work_data(trimesh2);
|
||||
}
|
||||
|
||||
|
||||
//! Trimesh Plane Collisions
|
||||
/*!
|
||||
|
||||
\param trimesh
|
||||
\param plane vec4f plane
|
||||
\param contacts A vec4f array. Must be initialized (~100). Each element have the coordinate point in the first 3 elements, and vec4f[3] has the penetration depth.
|
||||
*/
|
||||
void gim_trimesh_plane_collision(GIM_TRIMESH * trimesh,vec4f plane, GDYNAMIC_ARRAY * contacts)
|
||||
{
|
||||
contacts->m_size = 0;
|
||||
char classify;
|
||||
PLANE_CLASSIFY_BOX(plane,trimesh->m_aabbset.m_global_bound,classify);
|
||||
if(classify>1) return; // in front of plane
|
||||
|
||||
//Locks mesh
|
||||
gim_trimesh_locks_work_data(trimesh);
|
||||
//Get vertices
|
||||
GUINT32 i, vertcount = trimesh->m_transformed_vertex_buffer.m_element_count;
|
||||
vec3f * vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);
|
||||
|
||||
GREAL dist;
|
||||
vec4f * result_contact;
|
||||
|
||||
for (i=0;i<vertcount;i++)
|
||||
{
|
||||
dist = DISTANCE_PLANE_POINT(plane,vertices[i]);
|
||||
if(dist<=0.0f)
|
||||
{
|
||||
GIM_DYNARRAY_PUSH_EMPTY(vec4f,(*contacts));
|
||||
result_contact = GIM_DYNARRAY_POINTER_LAST(vec4f,(*contacts));
|
||||
VEC_COPY((*result_contact),vertices[i]);
|
||||
(*result_contact)[3] = -dist;
|
||||
}
|
||||
}
|
||||
gim_trimesh_unlocks_work_data(trimesh);
|
||||
}
|
||||
40
thirdparty/ode-0.16.5/GIMPACT/src/gimpact.cpp
vendored
Normal file
40
thirdparty/ode-0.16.5/GIMPACT/src/gimpact.cpp
vendored
Normal file
@@ -0,0 +1,40 @@
|
||||
|
||||
/*
|
||||
-----------------------------------------------------------------------------
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2006 Francisco Leon. 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.
|
||||
|
||||
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 and GIMPACT-LICENSE-BSD.TXT for more details.
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "GIMPACT/gimpact.h"
|
||||
|
||||
|
||||
|
||||
void gimpact_init()
|
||||
{
|
||||
gim_init_math();
|
||||
}
|
||||
|
||||
void gimpact_terminate()
|
||||
{
|
||||
}
|
||||
Reference in New Issue
Block a user