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/*
* SOLID - Software Library for Interference Detection
*
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
*
* This library may be distributed under the terms of the Q Public License
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
* LICENSE.QPL included in the packaging of this file.
*
* This library may be distributed and/or modified under the terms of the
* GNU General Public License (GPL) version 2 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL included in the
* packaging of this file.
*
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Commercial use or any other use of this library not covered by either
* the QPL or the GPL requires an additional license from Dtecta.
* Please contact info@dtecta.com for enquiries about the terms of commercial
* use of this library.
*/
#include "DT_Object.h"
#include "DT_AlgoTable.h"
#include "DT_Convex.h"
#include "DT_Complex.h"
#include "DT_LineSegment.h"
#include "DT_Transform.h"
#include "DT_Minkowski.h"
#include "DT_Sphere.h"
void DT_Object::setBBox()
{
m_bbox = m_shape.bbox(m_xform, m_margin);
DT_Vector3 min, max;
m_bbox.getMin().getValue(min);
m_bbox.getMax().getValue(max);
T_ProxyList::const_iterator it;
for (it = m_proxies.begin(); it != m_proxies.end(); ++it)
{
BP_SetBBox(*it, min, max);
}
}
bool DT_Object::ray_cast(const MT_Point3& source, const MT_Point3& target,
MT_Scalar& lambda, MT_Vector3& normal) const
{
MT_Transform inv_xform = m_xform.inverse();
MT_Point3 local_source = inv_xform(source);
MT_Point3 local_target = inv_xform(target);
MT_Vector3 local_normal;
bool result = m_shape.ray_cast(local_source, local_target, lambda, local_normal);
if (result)
{
normal = local_normal * inv_xform.getBasis();
MT_Scalar len = normal.length();
if (len > MT_Scalar(0.0))
{
normal /= len;
}
}
return result;
}
typedef AlgoTable<Intersect> IntersectTable;
typedef AlgoTable<Common_point> Common_pointTable;
typedef AlgoTable<Penetration_depth> Penetration_depthTable;
typedef AlgoTable<Closest_points> Closest_pointsTable;
bool intersectConvexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v)
{
DT_Transform ta(a2w, (const DT_Convex&)a);
DT_Transform tb(b2w, (const DT_Convex&)b);
return intersect((a_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(ta, DT_Sphere(a_margin))) : static_cast<const DT_Convex&>(ta)),
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v);
}
bool intersectComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v)
{
if (a.getType() == COMPLEX)
{
DT_Transform tb(b2w, (const DT_Convex&)b);
return intersect((const DT_Complex&)a, a2w, a_margin,
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v);
}
bool r = intersectComplexConvex(b, b2w, b_margin, a, a2w, a_margin, v);
v *= -1.;
return r;
}
bool intersectComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v)
{
return intersect((const DT_Complex&)a, a2w, a_margin,
(const DT_Complex&)b, b2w, b_margin, v);
}
IntersectTable *intersectInitialize()
{
IntersectTable *p = new IntersectTable;
p->addEntry(COMPLEX, COMPLEX, intersectComplexComplex);
p->addEntry(COMPLEX, CONVEX, intersectComplexConvex);
p->addEntry(CONVEX, CONVEX, intersectConvexConvex);
return p;
}
bool intersect(const DT_Object& a, const DT_Object& b, MT_Vector3& v)
{
static IntersectTable *intersectTable = intersectInitialize();
Intersect intersect = intersectTable->lookup(a.getType(), b.getType());
return intersect(a.m_shape, a.m_xform, a.m_margin,
b.m_shape, b.m_xform, b.m_margin, v);
}
bool common_pointConvexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{
DT_Transform ta(a2w, (const DT_Convex&)a);
DT_Transform tb(b2w, (const DT_Convex&)b);
return common_point((a_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(ta, DT_Sphere(a_margin))) : static_cast<const DT_Convex&>(ta)),
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v, pa, pb);
}
bool common_pointComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{
if (a.getType() == COMPLEX)
{
DT_Transform tb(b2w, (const DT_Convex&)b);
return common_point((const DT_Complex&)a, a2w, a_margin,
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), v, pa, pb);
}
bool r = common_pointComplexConvex(b, b2w, b_margin, a, a2w, a_margin, v, pb, pa);
v *= -1.;
return r;
}
bool common_pointComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{
return common_point((const DT_Complex&)a, a2w, a_margin,
(const DT_Complex&)b, b2w, b_margin, v, pa, pb);
}
Common_pointTable *common_pointInitialize()
{
Common_pointTable *p = new Common_pointTable;
p->addEntry(COMPLEX, COMPLEX, common_pointComplexComplex);
p->addEntry(COMPLEX, CONVEX, common_pointComplexConvex);
p->addEntry(CONVEX, CONVEX, common_pointConvexConvex);
return p;
}
bool common_point(const DT_Object& a, const DT_Object& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{
static Common_pointTable *common_pointTable = common_pointInitialize();
Common_point common_point = common_pointTable->lookup(a.getType(), b.getType());
return common_point(a.m_shape, a.m_xform, a.m_margin,
b.m_shape, b.m_xform, b.m_margin, v, pa, pb);
}
bool penetration_depthConvexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{
return hybrid_penetration_depth(DT_Transform(a2w, (const DT_Convex&)a), a_margin,
DT_Transform(b2w, (const DT_Convex&)b), b_margin, v, pa, pb);
}
bool penetration_depthComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{
if (a.getType() == COMPLEX)
return penetration_depth((const DT_Complex&)a, a2w, a_margin,
DT_Transform(b2w, (const DT_Convex&)b), b_margin, v, pa, pb);
bool r = penetration_depthComplexConvex(b, b2w, b_margin, a, a2w, a_margin, v, pb, pa);
v *= -1.;
return r;
}
bool penetration_depthComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{
return penetration_depth((const DT_Complex&)a, a2w, a_margin, (const DT_Complex&)b, b2w, b_margin, v, pa, pb);
}
Penetration_depthTable *penetration_depthInitialize()
{
Penetration_depthTable *p = new Penetration_depthTable;
p->addEntry(COMPLEX, COMPLEX, penetration_depthComplexComplex);
p->addEntry(COMPLEX, CONVEX, penetration_depthComplexConvex);
p->addEntry(CONVEX, CONVEX, penetration_depthConvexConvex);
return p;
}
bool penetration_depth(const DT_Object& a, const DT_Object& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{
static Penetration_depthTable *penetration_depthTable = penetration_depthInitialize();
Penetration_depth penetration_depth = penetration_depthTable->lookup(a.getType(), b.getType());
return penetration_depth(a.m_shape, a.m_xform, a.m_margin,
b.m_shape, b.m_xform, b.m_margin, v, pa, pb);
}
MT_Scalar closest_pointsConvexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Point3& pa, MT_Point3& pb)
{
DT_Transform ta(a2w, (const DT_Convex&)a);
DT_Transform tb(b2w, (const DT_Convex&)b);
return closest_points((a_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(ta, DT_Sphere(a_margin))) : static_cast<const DT_Convex&>(ta)),
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), MT_INFINITY, pa, pb);
}
MT_Scalar closest_pointsComplexConvex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Point3& pa, MT_Point3& pb)
{
if (a.getType() == COMPLEX)
{
DT_Transform tb(b2w, (const DT_Convex&)b);
return closest_points((const DT_Complex&)a, a2w, a_margin,
(b_margin > MT_Scalar(0.0) ? static_cast<const DT_Convex&>(DT_Minkowski(tb, DT_Sphere(b_margin))) : static_cast<const DT_Convex&>(tb)), pa, pb);
}
return closest_pointsComplexConvex(b, b2w, b_margin, a, a2w, a_margin, pb, pa);
}
MT_Scalar closest_pointsComplexComplex(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Point3& pa, MT_Point3& pb)
{
return closest_points((const DT_Complex&)a, a2w, a_margin,
(const DT_Complex&)b, b2w, b_margin, pa, pb);
}
Closest_pointsTable *closest_pointsInitialize()
{
Closest_pointsTable *p = new Closest_pointsTable;
p->addEntry(COMPLEX, COMPLEX, closest_pointsComplexComplex);
p->addEntry(COMPLEX, CONVEX, closest_pointsComplexConvex);
p->addEntry(CONVEX, CONVEX, closest_pointsConvexConvex);
return p;
}
MT_Scalar closest_points(const DT_Object& a, const DT_Object& b,
MT_Point3& pa, MT_Point3& pb)
{
static Closest_pointsTable *closest_pointsTable = closest_pointsInitialize();
Closest_points closest_points = closest_pointsTable->lookup(a.getType(), b.getType());
return closest_points(a.m_shape, a.m_xform, a.m_margin,
b.m_shape, b.m_xform, b.m_margin, pa, pb);
}
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