Extras/PhysicsEffects/src/base_level/collision/pfx_contact_large_tri_mesh.cpp

   1 /*\r
   2 Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.\r
   3 All rights reserved.\r
   4 \r
   5 Physics Effects is open software; you can redistribute it and/or\r
   6 modify it under the terms of the BSD License.\r
   7 \r
   8 Physics Effects is distributed in the hope that it will be useful,\r
   9 but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  10 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\r
  11 See the BSD License for more details.\r
  12 \r
  13 A copy of the BSD License is distributed with\r
  14 Physics Effects under the filename: physics_effects_license.txt\r
  15 */\r
  16 \r
  17 #include "../../../include/physics_effects/base_level/base/pfx_vec_utils.h"\r
  18 #include "pfx_contact_tri_mesh_sphere.h"\r
  19 #include "pfx_contact_tri_mesh_box.h"\r
  20 #include "pfx_contact_tri_mesh_capsule.h"\r
  21 #include "pfx_contact_tri_mesh_cylinder.h"\r
  22 #include "pfx_contact_tri_mesh_convex.h"\r
  23 #include "pfx_contact_large_tri_mesh.h"\r
  24 #include "pfx_intersect_common.h"\r
  25 #include "pfx_mesh_common.h"\r
  26 \r
  27 \r
  28 namespace sce {\r
  29 namespace PhysicsEffects {\r
  30 \r
  31 \r
  32 PfxInt32 pfxContactLargeTriMesh(\r
  33                                 PfxContactCache &contacts,\r
  34                                 const PfxLargeTriMesh *lmeshA,\r
  35                                 const PfxTransform3 &transformA,\r
  36                                 const PfxShape &shapeB,\r
  37                                 const PfxTransform3 &transformB,\r
  38                                 PfxFloat distanceThreshold)\r
  39 {\r
  40         PfxTransform3 transformAB;\r
  41         PfxMatrix3 matrixAB;\r
  42         PfxVector3 offsetAB;\r
  43         \r
  44         // Bローカル→Aローカルへの変換\r
  45         transformAB = orthoInverse(transformA) * transformB;\r
  46         matrixAB = transformAB.getUpper3x3();\r
  47         offsetAB = transformAB.getTranslation();\r
  48         \r
  49         // -----------------------------------------------------\r
  50         // LargeTriMeshに含まれるTriMeshのAABBと凸体のAABBを判定し、\r
  51         // 交差するものを個別に衝突判定する。※LargeMesh座標系\r
  52         \r
  53         PfxVector3 shapeHalf(0.0f);\r
  54         PfxVector3 shapeCenter = offsetAB;\r
  55         \r
  56 \r
  57         switch(shapeB.getType()) {\r
  58                 case kPfxShapeSphere:\r
  59                 shapeHalf = PfxVector3(shapeB.getSphere().m_radius);\r
  60                 break;\r
  61                 \r
  62                 case kPfxShapeCapsule:\r
  63                 {\r
  64                         PfxCapsule capsule = shapeB.getCapsule();\r
  65                         shapeHalf = absPerElem(matrixAB) * PfxVector3(capsule.m_halfLen+capsule.m_radius,capsule.m_radius,capsule.m_radius);\r
  66                 }\r
  67                 break;\r
  68                 \r
  69                 case kPfxShapeCylinder:\r
  70                 {\r
  71                         PfxCylinder cylinder = shapeB.getCylinder();\r
  72                         shapeHalf = absPerElem(matrixAB) * PfxVector3(cylinder.m_halfLen,cylinder.m_radius,cylinder.m_radius);\r
  73                 }\r
  74                 break;\r
  75                 \r
  76                 case kPfxShapeBox:\r
  77                 shapeHalf = absPerElem(matrixAB) * shapeB.getBox().m_half;\r
  78                 break;\r
  79                 \r
  80                 case kPfxShapeConvexMesh:\r
  81         shapeHalf = absPerElem(matrixAB) * shapeB.getConvexMesh()->m_half;\r
  82                 break;\r
  83                 \r
  84                 default:\r
  85                 break;\r
  86         }\r
  87 \r
  88         // -----------------------------------------------------\r
  89         // アイランドとの衝突判定\r
  90 \r
  91         PfxVecInt3 aabbMinL,aabbMaxL;\r
  92         lmeshA->getLocalPosition((shapeCenter-shapeHalf),(shapeCenter+shapeHalf),aabbMinL,aabbMaxL);\r
  93         \r
  94         PfxUInt32 numIslands = lmeshA->m_numIslands;\r
  95 \r
  96         {\r
  97         for(PfxUInt32 i=0;i<numIslands;i++) {\r
  98                 // AABBチェック\r
  99                 PfxAabb16 aabbB = lmeshA->m_aabbList[i];\r
 100                 if(aabbMaxL.getX() < pfxGetXMin(aabbB) || aabbMinL.getX() > pfxGetXMax(aabbB)) continue;\r
 101                 if(aabbMaxL.getY() < pfxGetYMin(aabbB) || aabbMinL.getY() > pfxGetYMax(aabbB)) continue;\r
 102                 if(aabbMaxL.getZ() < pfxGetZMin(aabbB) || aabbMinL.getZ() > pfxGetZMax(aabbB)) continue;\r
 103                 \r
 104                 PfxTriMesh *island = &lmeshA->m_islands[i];\r
 105 \r
 106                         // 衝突判定\r
 107                         PfxContactCache localContacts;\r
 108                         switch(shapeB.getType()) {\r
 109                                 case kPfxShapeSphere:\r
 110                                 pfxContactTriMeshSphere(localContacts,island,transformA,shapeB.getSphere(),transformB,distanceThreshold);\r
 111                                 break;\r
 112                                 \r
 113                                 case kPfxShapeCapsule:\r
 114                                 pfxContactTriMeshCapsule(localContacts,island,transformA,shapeB.getCapsule(),transformB,distanceThreshold);\r
 115                                 break;\r
 116                                 \r
 117                                 case kPfxShapeBox:\r
 118                                 pfxContactTriMeshBox(localContacts,island,transformA,shapeB.getBox(),transformB,distanceThreshold);\r
 119                                 break;\r
 120                                 \r
 121                                 case kPfxShapeCylinder:\r
 122                                 pfxContactTriMeshCylinder(localContacts,island,transformA,shapeB.getCylinder(),transformB,distanceThreshold);\r
 123                                 break;\r
 124                                 \r
 125                                 case kPfxShapeConvexMesh:\r
 126                         pfxContactTriMeshConvex(localContacts,island,transformA,*shapeB.getConvexMesh(),transformB,distanceThreshold);\r
 127                                 break;\r
 128                                 \r
 129                                 default:\r
 130                                 break;\r
 131                         }\r
 132 \r
 133                         \r
 134                         // 衝突点を追加\r
 135                         for(int j=0;j<localContacts.getNumContacts();j++) {\r
 136                                 PfxSubData subData = localContacts.getSubData(j);\r
 137                                 subData.setIslandId(i);\r
 138                                 contacts.addContactPoint(\r
 139                                         localContacts.getDistance(j),\r
 140                                         localContacts.getNormal(j),\r
 141                                         localContacts.getLocalPointA(j),\r
 142                                         localContacts.getLocalPointB(j),\r
 143                                         subData);\r
 144                         }\r
 145                 }\r
 146         }\r
 147 \r
 148 \r
 149         return contacts.getNumContacts();\r
 150 }\r
 151 } //namespace PhysicsEffects\r
 152 } //namespace sce\r