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// Copyright 2006-2007 Nanorex, Inc. See LICENSE file for details.
/*
Name: collisiondetector.cpp
Author: Oleksandr Shevchenko
Description: class for collisiondetector representation
*/
#include "collisiondetector.h"
//----------------------------------------------------------------------------
// Destructor
CollisionDetector::~CollisionDetector()
{
if (mPoints) delete [] mPoints;
mPoints = 0;
}
//----------------------------------------------------------------------------
// CalculatePoints()
//
// calculate intersection points
//
void CollisionDetector::CalculatePoints()
{
int np = 2*(mPair+1);
mPoints = new Triple[np];
int n = mEntities.Size();
int count = 0;
Triple a[4],b[4];
for (int i=0; i<n; i+=2)
{
int ii = mEntities[i];
int ni = mH0->Transformation(ii, a);
int jj = mEntities[i+1];
int nj = mH1->Transformation(jj, b);
int num = Collision(ni,a,nj,b,mPoints+count);
if (num)
{
count += (num+num);
}
}
}
//----------------------------------------------------------------------------
// CheckCollision()
//
// recursive check for collision
//
void CollisionDetector::CheckCollision(
BoxTree * bt0,
BoxTree * bt1)
{
if (!bt0 || !bt1) return;
Box * b0 = bt0->GetBox();
Box * b1 = bt1->GetBox();
int flag = IsOverlap(b0->Extent()+mDelta,b1->Extent(),b0->Center(),b1->Center());
// if boxes are disjoint
if (!flag) return;
// if boxes are overlap
if (bt0->Empty() && bt1->Empty())
{
// check for intersect entities
mCollision += Collision(bt0,bt1);
return;
}
if (!bt0->Empty() && !bt1->Empty())
{
double r0,r1;
b0->Extent().Greatest(r0);
b1->Extent().Greatest(r1);
if (r0 > r1)
{
if (bt0->Left()) CheckCollision(bt0->Left(),bt1);
if (mCollision && mFirst) return;
if (bt0->Right()) CheckCollision(bt0->Right(),bt1);
}
else
{
if (bt1->Left()) CheckCollision(bt0,bt1->Left());
if (mCollision && mFirst) return;
if (bt1->Right()) CheckCollision(bt0,bt1->Right());
}
}
else if (bt0->Empty() && !bt1->Empty())
{
if (bt1->Left()) CheckCollision(bt0,bt1->Left());
if (mCollision && mFirst) return;
if (bt1->Right()) CheckCollision(bt0,bt1->Right());
}
else if (!bt0->Empty() && bt1->Empty())
{
if (bt0->Left()) CheckCollision(bt0->Left(),bt1);
if (mCollision && mFirst) return;
if (bt0->Right()) CheckCollision(bt0->Right(),bt1);
}
return;
}
//----------------------------------------------------------------------------
// CheckCollision()
//
// check for collision between two trees
//
void CollisionDetector::CheckCollision(
Hierarchy * h0,
Hierarchy * h1)
{
if (!h0 || !h1) return;
mH0 = h0;
mH1 = h1;
CalculateTransformation();
CheckCollision(h0->Tree(),h1->Tree());
return;
}
//----------------------------------------------------------------------------
// Collision()
//
// intersect trias in boxes
//
int CollisionDetector::Collision(
BoxTree * bt0,
BoxTree * bt1)
{
Triple a[4],b[4];
int n0 = bt0->Size();
int n1 = bt1->Size();
int count = 0;
int num;
for (int i=0; i<n0; i++)
{
Box * b0 = bt0->GetBox(i);
int ii = int(b0 - mH0->Base());
int ni = mH0->Transformation(ii, a);
for (int j=0; j<n1; j++)
{
Box * b1 = bt1->GetBox(j);
int jj = int(b1 - mH1->Base());
int nj = mH1->Transformation(jj, b);
mEntity++;
if (num = Collision(ni,a,nj,b,0))
{
// save collision elements
mEntities.Add(ii);
mEntities.Add(jj);
count++;
mPair+=num;
}
}
}
return (count);
}
//----------------------------------------------------------------------------
// Select()
//
// select collision elements
//
void CollisionDetector::Select(int c) const
{
if (mH0->S() && mH1->S())
{
int ni = 3;
if (mH0->S()->Type()) ni = 4;
int nj = 3;
if (mH1->S()->Type()) nj = 4;
for (int i = 0; i < mCollision; i++)
{
int ie = mEntities[2 * i];
int ii;
for (ii = 0; ii < ni; ii++)
{
int i0 = mH0->S()->I(3 * ie + ii);
mH0->S()->C(i0, c);
}
int je = mEntities[2 * i + 1];
for (ii = 0; ii < nj; ii++)
{
int j0 = mH1->S()->I(3 * je + ii);
mH1->S()->C(j0, c);
}
}
}
else
{
// if no surfaces
int ni = 3;
if (mH0->Type()) ni = 4;
int nj = 3;
if (mH1->Type()) nj = 4;
for (int i = 0; i < mCollision; i++)
{
int ie = mEntities[2 * i];
int ii;
for (ii = 0; ii < ni; ii++)
{
int i0 = mH0->I(3 * ie + ii);
mH0->C(i0, c);
}
int je = mEntities[2 * i + 1];
for (ii = 0; ii < nj; ii++)
{
int j0 = mH1->I(3 * je + ii);
mH1->C(j0, c);
}
}
}
}
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