/*
* Copyright 1993, 1994, 1995, Silicon Graphics, Inc.
* ALL RIGHTS RESERVED
*
* UNPUBLISHED -- Rights reserved under the copyright laws of the United
* States. Use of a copyright notice is precautionary only and does not
* imply publication or disclosure.
*
* U.S. GOVERNMENT RESTRICTED RIGHTS LEGEND:
* Use, duplication or disclosure by the Government is subject to restrictions
* as set forth in FAR 52.227.19(c)(2) or subparagraph (c)(1)(ii) of the Rights
* in Technical Data and Computer Software clause at DFARS 252.227-7013 and/or
* in similar or successor clauses in the FAR, or the DOD or NASA FAR
* Supplement. Contractor/manufacturer is Silicon Graphics, Inc.,
* 2011 N. Shoreline Blvd. Mountain View, CA 94039-7311.
*
* THE CONTENT OF THIS WORK CONTAINS CONFIDENTIAL AND PROPRIETARY
* INFORMATION OF SILICON GRAPHICS, INC. ANY DUPLICATION, MODIFICATION,
* DISTRIBUTION, OR DISCLOSURE IN ANY FORM, IN WHOLE, OR IN PART, IS STRICTLY
* PROHIBITED WITHOUT THE PRIOR EXPRESS WRITTEN PERMISSION OF SILICON
* GRAPHICS, INC.
*/
/*
* collide.c
*
* $Revision: 1.1 $
* $Date: 2000/11/21 21:39:36 $
*
* simple collision routines for moving DCSes
*/
#define _PFU_COLLIDE_C_ /* don't want typdefing #defs */
#include <Performer/pfutil.h>
/* Channel used for evaluating LODs when intersecting */
static pfChannel *isectChan = NULL;
/*-----------------------------------------------------*/
void
pfuCollisionChan(pfChannel *chan)
{
isectChan = chan;
}
pfChannel*
pfuGetCollisionChan(void)
{
return isectChan;
}
/*
* Set up intersection masks for collision detection using 'mask' as the
* intersection mask. Cache normals and such inside geosets if the geometry
* is static, but not if it is dynamic, i.e., its vertices change.
*/
void
pfuCollideSetup(pfNode *node, int mode, int mask)
{
int completeMode;
double startTime;
double elapsedTime;
pfNotify(PFNFY_INFO, PFNFY_PRINT, "pfuCollideSetup collision traversal");
if (mode == PFUCOLLIDE_DYNAMIC)
{
completeMode = PFTRAV_SELF|PFTRAV_DESCEND|PFTRAV_IS_UNCACHE;
pfNotify(PFNFY_INFO, PFNFY_MORE, " Intersection data is uncached");
}
else
{
completeMode = PFTRAV_SELF|PFTRAV_DESCEND|PFTRAV_IS_CACHE;
pfNotify(PFNFY_INFO, PFNFY_MORE, " Intersection data is cached");
}
startTime = pfGetTime();
pfNodeTravMask(node, PFTRAV_ISECT, mask, completeMode, PF_OR);
elapsedTime = pfGetTime() - startTime;
pfNotify(PFNFY_INFO, PFNFY_MORE, " Elapsed time: %.3f sec", elapsedTime);
pfNotify(PFNFY_INFO, PFNFY_MORE, NULL);
}
int
pfuCollideGrnd(pfCoord *coord, pfNode *node, pfVec3 zpr)
{
int isect;
pfHit **hits[32];
pfSegSet segset;
zpr[0] = -1.0f;
zpr[1] = 0.0f;
zpr[2] = 0.0f;
/* Make a ray looking "down" at terrain */
PFCOPY_VEC3(segset.segs[0].pos, coord->xyz);
segset.segs[0].pos[2] += 25000.0f; /* Find terrain even if we're below it */
PFSET_VEC3(segset.segs[0].dir, 0.0f, 0.0f, -1.0f);
segset.segs[0].length = 50000.0f;
segset.mode = PFTRAV_IS_PRIM|PFTRAV_IS_NORM|PFTRAV_IS_CULL_BACK;
segset.userData = NULL;
segset.isectMask = PFUCOLLIDE_GROUND;
segset.activeMask = 0x1;
segset.bound = NULL;
segset.discFunc = NULL;
if (isectChan)
isect = pfChanNodeIsectSegs(isectChan, node, &segset, hits, NULL);
else
isect = pfNodeIsectSegs(node, &segset, hits);
/* See if we collided with object. */
if (isect > 0)
{
uint query[] = { PFQHIT_FLAGS, PFQHIT_POINT, PFQHIT_NORM, NULL };
struct
{
int flags;
pfVec3 point;
pfVec3 normal;
} result;
pfMatrix xform;
pfMQueryHit(hits[0][0], query, &result);
if ((result.flags & PFHIT_POINT) && (result.flags & PFHIT_NORM))
{
if (result.flags & PFHIT_XFORM)
{
pfQueryHit(hits[0][0], PFQHIT_XFORM, &xform);
pfXformPt3(result.point, result.point, xform);
pfXformVec3(result.normal, result.normal, xform);
pfNormalizeVec3(result.normal);
}
zpr[0] = result.point[PF_Z];
{
pfVec3 head, head90;
float sh, ch;
float dotp;
pfSinCos(coord->hpr[0], &sh, &ch);
head[0] = -sh;
head[1] = ch;
head[2] = 0.0f;
dotp = PFDOT_VEC3(head, result.normal);
zpr[1] = pfArcCos(dotp) - 90.0f;
head90[0] = ch;
head90[1] = sh;
head90[2] = 0.0f;
dotp = PFDOT_VEC3(head90, result.normal);
zpr[2] = 90.0f - pfArcCos(dotp);
}
return PFUCOLLIDE_GROUND;
}
}
return FALSE;
}
int
pfuCollideObj(pfSeg *seg, pfNode *objNode, pfVec3 hitPos, pfVec3 hitNorm)
{
int isect;
pfHit **hits[32];
pfSegSet segset;
segset.mode = PFTRAV_IS_PRIM|PFTRAV_IS_NORM|PFTRAV_IS_CULL_BACK;
segset.userData = NULL;
segset.isectMask = PFUCOLLIDE_OBJECT;
segset.activeMask = 0x1;
segset.bound = NULL;
segset.discFunc = NULL;
segset.segs[0] = *seg;
if (isectChan)
isect = pfChanNodeIsectSegs(isectChan, objNode, &segset, hits, NULL);
else
isect = pfNodeIsectSegs(objNode, &segset, hits);
/* see if we collided with object */
if (isect > 0)
{
uint query[] = { PFQHIT_FLAGS, PFQHIT_POINT, PFQHIT_NORM, NULL };
struct
{
int flags;
pfVec3 point;
pfVec3 normal;
} result;
pfMatrix xform;
pfMQueryHit(hits[0][0], query, &result);
/* transform intersection */
if (result.flags & PFHIT_XFORM)
{
/* get matrix */
pfQueryHit(hits[0][0], PFQHIT_XFORM, &xform);
/* transform point */
if (result.flags & PFHIT_POINT)
pfXformPt3(result.point, result.point, xform);
/* transform normal */
if (result.flags & PFHIT_NORM)
{
pfXformVec3(result.normal, result.normal, xform);
pfNormalizeVec3(result.normal);
}
}
/* copy intersection data to user's arguments */
if ((result.flags & PFHIT_POINT) && (hitPos != NULL))
PFCOPY_VEC3(hitPos, result.point);
if ((result.flags & PFHIT_NORM) && (hitNorm != NULL))
PFCOPY_VEC3(hitNorm, result.normal);
/* indicate that intersection occurred */
return PFUCOLLIDE_OBJECT;
}
else
return FALSE;
}
int
pfuCollideGrndObj(pfCoord *coord, pfNode *grndNode, pfVec3 zpr,
pfSeg *seg, pfNode *objNode, pfVec3 hitPos, pfVec3 hitNorm)
{
int retval = 0;
int isect;
pfHit **hits[32];
pfSegSet segset;
/* Collide separately if ground and object nodes are different */
if (grndNode != objNode)
{
return pfuCollideGrnd(coord, grndNode, zpr) |
pfuCollideObj(seg, objNode, hitPos, hitNorm);
}
/* Else, we can intersect both segments at once for better performance */
zpr[0] = -1.0f;
zpr[1] = 0.0f;
zpr[2] = 0.0f;
/* Make a ray looking "down" at terrain */
PFCOPY_VEC3(segset.segs[0].pos, coord->xyz);
segset.segs[0].pos[2] += 25000.0f; /* Find terrain even if we're below it */
PFSET_VEC3(segset.segs[0].dir, 0.0f, 0.0f, -1.0f);
segset.segs[0].length = 50000.0f;
/* Copy user supplied segment */
segset.segs[1] = *seg;
segset.mode = PFTRAV_IS_PRIM|PFTRAV_IS_NORM|PFTRAV_IS_CULL_BACK;
segset.userData = NULL;
segset.isectMask = PFUCOLLIDE_GROUND;
segset.activeMask = 0x3;
segset.bound = NULL;
segset.discFunc = NULL;
if (isectChan)
isect = pfChanNodeIsectSegs(isectChan, grndNode, &segset, hits, NULL);
else
isect = pfNodeIsectSegs(grndNode, &segset, hits);
/* See if we collided with anything. */
if (isect > 0)
{
uint query[] = { PFQHIT_FLAGS, PFQHIT_POINT, PFQHIT_NORM, NULL };
struct
{
int flags;
pfVec3 point;
pfVec3 normal;
} result;
pfMatrix xform;
pfMQueryHit(hits[0][0], query, &result);
if ((result.flags & PFHIT_POINT) && (result.flags & PFHIT_NORM))
{
if (result.flags & PFHIT_XFORM)
{
pfQueryHit(hits[0][0], PFQHIT_XFORM, &xform);
pfXformPt3(result.point, result.point, xform);
pfXformVec3(result.normal, result.normal, xform);
pfNormalizeVec3(result.normal);
}
zpr[0] = result.point[PF_Z];
{
pfVec3 head, head90;
float sh, ch;
float dotp;
pfSinCos(coord->hpr[0], &sh, &ch);
head[0] = -sh;
head[1] = ch;
head[2] = 0.0f;
dotp = PFDOT_VEC3(head, result.normal);
zpr[1] = pfArcCos(dotp) - 90.0f;
head90[0] = ch;
head90[1] = sh;
head90[2] = 0.0f;
dotp = PFDOT_VEC3(head90, result.normal);
zpr[2] = 90.0f - pfArcCos(dotp);
}
retval |= PFUCOLLIDE_GROUND;
}
pfMQueryHit(hits[1][0], query, &result);
if ((result.flags & PFHIT_POINT) && (result.flags & PFHIT_NORM))
{
if (result.flags & PFHIT_XFORM)
{
pfQueryHit(hits[0][0], PFQHIT_XFORM, &xform);
pfXformPt3(result.point, result.point, xform);
pfXformVec3(result.normal, result.normal, xform);
pfNormalizeVec3(result.normal);
}
PFCOPY_VEC3(hitPos, result.point);
PFCOPY_VEC3(hitNorm, result.normal);
retval |= PFUCOLLIDE_OBJECT;
}
}
return retval;
}
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