public bool OverlappingTransConservative2(ref AABB box,
BT_BOX_BOX_TRANSFORM_CACHE trans1_to_0)
{
AABB tbox = box;
tbox.ApplyTransformTransCache(ref trans1_to_0);
return(HasCollision(ref tbox));
}
static bool QuantizedNodeCollision(
GImpactQuantizedBvh boxset0, GImpactQuantizedBvh boxset1,
BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0,
int node0, int node1, bool complete_primitive_tests)
{
AABB box0;
boxset0.GetNodeBound(node0, out box0);
AABB box1;
boxset1.GetNodeBound(node1, out box1);
return(box0.OverlappingTransCache(ref box1, ref trans_cache_1to0, complete_primitive_tests));
// box1.appy_transform_trans_cache(trans_cache_1to0);
// return box0.has_collision(box1);
}
//! Apply a transform to an AABB
public void ApplyTransformTransCache(ref BT_BOX_BOX_TRANSFORM_CACHE trans)
{
IndexedVector3 center = (m_max + m_min) * 0.5f;
IndexedVector3 extends = m_max - center;
// Compute new center
center = trans.Transform(ref center);
IndexedBasisMatrix absMatrix = trans.m_R1to0.Absolute();
IndexedVector3 textends = new IndexedVector3(extends.Dot(trans.m_R1to0.GetRow(0).Absolute()),
extends.Dot(trans.m_R1to0.GetRow(1).Absolute()),
extends.Dot(trans.m_R1to0.GetRow(2).Absolute()));
m_min = center - textends;
m_max = center + textends;
}
public static void FindCollision(GImpactQuantizedBvh boxset0, ref IndexedMatrix trans0,
GImpactQuantizedBvh boxset1, ref IndexedMatrix trans1,
PairSet collision_pairs)
{
if (boxset0.GetNodeCount() == 0 || boxset1.GetNodeCount() == 0)
{
return;
}
BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0 = new BT_BOX_BOX_TRANSFORM_CACHE();
trans_cache_1to0.CalcFromHomogenic(ref trans0, ref trans1);
#if TRI_COLLISION_PROFILING
BulletGlobals.StartProfile("GIMPACT-TRIMESH");
#endif //TRI_COLLISION_PROFILING
FindQuantizedCollisionPairsRecursive(boxset0, boxset1, collision_pairs, ref trans_cache_1to0, 0, 0, true);
#if TRI_COLLISION_PROFILING
BulletGlobals.StopProfile();
#endif //TRI_COLLISION_PROFILING
}
public static void FindCollision(GImpactBvh boxset1, ref IndexedMatrix trans1,
GImpactBvh boxset2, ref IndexedMatrix trans2,
PairSet collision_pairs)
{
if (boxset1.GetNodeCount() == 0 || boxset2.GetNodeCount() == 0)
{
return;
}
BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0 = new BT_BOX_BOX_TRANSFORM_CACHE();
trans_cache_1to0.CalcFromHomogenic(ref trans1, ref trans2);
#if TRI_COLLISION_PROFILING
bt_begin_gim02_tree_time();
#endif //TRI_COLLISION_PROFILING
FindCollisionPairsRecursive(boxset1, boxset2, collision_pairs, trans_cache_1to0, 0, 0, true);
#if TRI_COLLISION_PROFILING
bt_end_gim02_tree_time();
#endif //TRI_COLLISION_PROFILING
}
//! transcache is the transformation cache from box to this AABB
public bool OverlappingTransCache(ref AABB box, ref BT_BOX_BOX_TRANSFORM_CACHE transcache, bool fulltest)
{
//Taken from OPCODE
IndexedVector3 ea, eb; //extends
IndexedVector3 ca, cb; //extends
GetCenterExtend(out ca, out ea);
box.GetCenterExtend(out cb, out eb);
IndexedVector3 T = new IndexedVector3(0, 0, 0);
float t, t2;
int i;
// Class I : A's basis vectors
for (i = 0; i < 3; i++)
{
T[i] = transcache.m_R1to0[i].Dot(ref cb) + transcache.m_T1to0[i] - ca[i];
t = transcache.m_AR[i].Dot(ref eb) + ea[i];
if (BoxCollision.BT_GREATER(T[i], t))
{
return(false);
}
}
// Class II : B's basis vectors
for (i = 0; i < 3; i++)
{
t = Mat3DotCol(ref transcache.m_R1to0, ref T, i);
t2 = Mat3DotCol(ref transcache.m_AR, ref ea, i) + eb[i];
if (BoxCollision.BT_GREATER(t, t2))
{
return(false);
}
}
// Class III : 9 cross products
if (fulltest)
{
// check to see if these need to be restored back or are read-only
float[,] m_R1to0 = MathUtil.BasisMatrixToFloatArray(ref transcache.m_R1to0);
float[,] m_AR = MathUtil.BasisMatrixToFloatArray(ref transcache.m_AR);
int j, m, n, o, p, q, r;
for (i = 0; i < 3; i++)
{
m = (i + 1) % 3;
n = (i + 2) % 3;
o = i == 0 ? 1 : 0;
p = i == 2 ? 1 : 2;
for (j = 0; j < 3; j++)
{
q = j == 2 ? 1 : 2;
r = j == 0 ? 1 : 0;
t = T[n] * m_R1to0[m, j] - T[m] * m_R1to0[n, j];
t2 = ea[o] * m_AR[p, j] + ea[p] * m_AR[o, j] +
eb[r] * m_AR[i, q] + eb[q] * m_AR[i, r];
if (BoxCollision.BT_GREATER(t, t2))
{
return(false);
}
}
}
}
return(true);
}
public static void FindQuantizedCollisionPairsRecursive(
GImpactQuantizedBvh boxset0, GImpactQuantizedBvh boxset1,
PairSet collision_pairs,
ref BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0,
int node0, int node1, bool complete_primitive_tests)
{
if (QuantizedNodeCollision(
boxset0, boxset1, trans_cache_1to0,
node0, node1, complete_primitive_tests) == false)
{
return; //avoid colliding internal nodes
}
if (boxset0.IsLeafNode(node0))
{
if (boxset1.IsLeafNode(node1))
{
// collision result
collision_pairs.PushPair(boxset0.GetNodeData(node0), boxset1.GetNodeData(node1));
return;
}
else
{
//collide left recursive
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
node0, boxset1.GetLeftNode(node1), false);
//collide right recursive
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
node0, boxset1.GetRightNode(node1), false);
}
}
else
{
if (boxset1.IsLeafNode(node1))
{
//collide left recursive
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetLeftNode(node0), node1, false);
//collide right recursive
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetRightNode(node0), node1, false);
}
else
{
//collide left0 left1
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetLeftNode(node0), boxset1.GetLeftNode(node1), false);
//collide left0 right1
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetLeftNode(node0), boxset1.GetRightNode(node1), false);
//collide right0 left1
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetRightNode(node0), boxset1.GetLeftNode(node1), false);
//collide right0 right1
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetRightNode(node0), boxset1.GetRightNode(node1), false);
} // else if node1 is not a leaf
} // else if node0 is not a leaf
}
//! transcache is the transformation cache from box to this AABB
public bool OverlappingTransCache(ref AABB box, ref BT_BOX_BOX_TRANSFORM_CACHE transcache, bool fulltest)
{
//Taken from OPCODE
IndexedVector3 ea, eb;//extends
IndexedVector3 ca, cb;//extends
GetCenterExtend(out ca, out ea);
box.GetCenterExtend(out cb, out eb);
IndexedVector3 T = new IndexedVector3(0, 0, 0);
float t, t2;
int i;
// Class I : A's basis vectors
for (i = 0; i < 3; i++)
{
T[i] = transcache.m_R1to0[i].Dot(ref cb) + transcache.m_T1to0[i] - ca[i];
t = transcache.m_AR[i].Dot(ref eb) + ea[i];
if (BoxCollision.BT_GREATER(T[i], t))
{
return false;
}
}
// Class II : B's basis vectors
for (i = 0; i < 3; i++)
{
t = Mat3DotCol(ref transcache.m_R1to0, ref T, i);
t2 = Mat3DotCol(ref transcache.m_AR, ref ea, i) + eb[i];
if (BoxCollision.BT_GREATER(t, t2))
{
return false;
}
}
// Class III : 9 cross products
if (fulltest)
{
// check to see if these need to be restored back or are read-only
float[,] m_R1to0 = MathUtil.BasisMatrixToFloatArray(ref transcache.m_R1to0);
float[,] m_AR = MathUtil.BasisMatrixToFloatArray(ref transcache.m_AR);
int j, m, n, o, p, q, r;
for (i = 0; i < 3; i++)
{
m = (i + 1) % 3;
n = (i + 2) % 3;
o = i == 0 ? 1 : 0;
p = i == 2 ? 1 : 2;
for (j = 0; j < 3; j++)
{
q = j == 2 ? 1 : 2;
r = j == 0 ? 1 : 0;
t = T[n] * m_R1to0[m, j] - T[m] * m_R1to0[n, j];
t2 = ea[o] * m_AR[p, j] + ea[p] * m_AR[o, j] +
eb[r] * m_AR[i, q] + eb[q] * m_AR[i, r];
if (BoxCollision.BT_GREATER(t, t2)) return false;
}
}
}
return true;
}
public bool OverlappingTransConservative2(ref AABB box,
BT_BOX_BOX_TRANSFORM_CACHE trans1_to_0)
{
AABB tbox = box;
tbox.ApplyTransformTransCache(ref trans1_to_0);
return HasCollision(ref tbox);
}
//! Apply a transform to an AABB
public void ApplyTransformTransCache(ref BT_BOX_BOX_TRANSFORM_CACHE trans)
{
IndexedVector3 center = (m_max + m_min) * 0.5f;
IndexedVector3 extends = m_max - center;
// Compute new center
center = trans.Transform(ref center);
IndexedBasisMatrix absMatrix = trans.m_R1to0.Absolute();
IndexedVector3 textends = new IndexedVector3(extends.Dot(trans.m_R1to0.GetRow(0).Absolute()),
extends.Dot(trans.m_R1to0.GetRow(1).Absolute()),
extends.Dot(trans.m_R1to0.GetRow(2).Absolute()));
m_min = center - textends;
m_max = center + textends;
}
