GIMPACT/src/gim_trimesh_ray_collision.cpp

   1
   2 /*
   3 -----------------------------------------------------------------------------
   4 This source file is part of GIMPACT Library.
   5
   6 For the latest info, see http://gimpact.sourceforge.net/
   7
   8 Copyright (c) 2006 Francisco Leon. C.C. 80087371.
   9 email: projectileman@yahoo.com
  10
  11  This library is free software; you can redistribute it and/or
  12  modify it under the terms of EITHER:
  13    (1) The GNU Lesser General Public License as published by the Free
  14        Software Foundation; either version 2.1 of the License, or (at
  15        your option) any later version. The text of the GNU Lesser
  16        General Public License is included with this library in the
  17        file GIMPACT-LICENSE-LGPL.TXT.
  18    (2) The BSD-style license that is included with this library in
  19        the file GIMPACT-LICENSE-BSD.TXT.
  20
  21  This library is distributed in the hope that it will be useful,
  22  but WITHOUT ANY WARRANTY; without even the implied warranty of
  23  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
  24  GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
  25
  26 -----------------------------------------------------------------------------
  27 */
  28
  29 #include "GIMPACT/gim_trimesh.h"
  30
  31
  32 //! Trimesh Ray Collisions
  33 /*!
  34
  35 \param trimesh
  36 \param contact
  37 \return 1 if the ray collides, else 0
  38 */
  39 int gim_trimesh_ray_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)
  40 {
  41     GDYNAMIC_ARRAY collision_result;
  42         GIM_CREATE_BOXQUERY_LIST(collision_result);
  43
  44         gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);
  45
  46         if(collision_result.m_size==0)
  47         {
  48             GIM_DYNARRAY_DESTROY(collision_result);
  49             return 0;
  50         }
  51
  52         //collide triangles
  53
  54         GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
  55         GIM_TRIANGLE_DATA  tridata;
  56         vec3f pout;
  57         GREAL tparam,u,v;
  58         char does_intersect;
  59
  60         gim_trimesh_locks_work_data(trimesh);
  61
  62         for(unsigned int i=0;i<collision_result.m_size;i++)
  63         {
  64                 gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);
  65
  66                 // flip plane for correct result in ODE
  67                 // for more info: martijn@bytehazard.com
  68                 vec4f flippedPlane;
  69                 VEC_SCALE_4(flippedPlane, -1.0f, tridata.m_planes.m_planes[0]);
  70
  71                 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);
  72                 if(does_intersect)
  73                 {
  74                     contact->tparam = tparam;
  75                     contact->u = u;
  76                     contact->v = v;
  77                     contact->m_face_id = boxesresult[i];
  78                     VEC_COPY(contact->m_point,pout);
  79                     VEC_COPY(contact->m_normal,flippedPlane);
  80
  81                     gim_trimesh_unlocks_work_data(trimesh);
  82             GIM_DYNARRAY_DESTROY(collision_result);
  83                     return 1;
  84                 }
  85         }
  86
  87         gim_trimesh_unlocks_work_data(trimesh);
  88         GIM_DYNARRAY_DESTROY(collision_result);
  89         return 0;//no collisiion
  90 }
  91
  92
  93 //! Trimesh Ray Collisions closest
  94 /*!
  95 Finds the closest primitive collided by the ray
  96 \param trimesh
  97 \param contact
  98 \return 1 if the ray collides, else 0
  99 */
 100 int gim_trimesh_ray_closest_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)
 101 {
 102     GDYNAMIC_ARRAY collision_result;
 103         GIM_CREATE_BOXQUERY_LIST(collision_result);
 104
 105         gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);
 106
 107         if(collision_result.m_size==0)
 108         {
 109             GIM_DYNARRAY_DESTROY(collision_result);
 110             return 0;
 111         }
 112
 113         //collide triangles
 114
 115         GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
 116         GIM_TRIANGLE_DATA  tridata;
 117         vec3f pout;
 118         GREAL tparam,u,v;
 119         char does_intersect;
 120         contact->tparam = tmax + 0.1f;
 121
 122         gim_trimesh_locks_work_data(trimesh);
 123
 124         for(unsigned int i=0;i<collision_result.m_size;i++)
 125         {
 126                 gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);
 127
 128                 // flip plane for correct result in ODE
 129                 // for more info: martijn@bytehazard.com
 130                 vec4f flippedPlane;
 131                 VEC_SCALE_4(flippedPlane, -1.0f, tridata.m_planes.m_planes[0]);
 132
 133                 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);
 134                 if(does_intersect && (tparam < contact->tparam))
 135                 {
 136             contact->tparam = tparam;
 137                     contact->u = u;
 138                     contact->v = v;
 139                     contact->m_face_id = boxesresult[i];
 140                     VEC_COPY(contact->m_point,pout);
 141                     VEC_COPY(contact->m_normal,flippedPlane);
 142                 }
 143         }
 144
 145         gim_trimesh_unlocks_work_data(trimesh);
 146         GIM_DYNARRAY_DESTROY(collision_result);
 147         if(contact->tparam > tmax) return 0;
 148         return 1;
 149 }