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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/*
* OPCODE - Optimized Collision Detection
* Copyright (C) 2001 Pierre Terdiman
* Homepage: http://www.codercorner.com/Opcode.htm
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Contains code for OPCODE models.
* \file OPC_Model.cpp
* \author Pierre Terdiman
* \date March, 20, 2001
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* The main collision wrapper, for all trees. Supported trees are:
* - Normal trees (2*N-1 nodes, full size)
* - No-leaf trees (N-1 nodes, full size)
* - Quantized trees (2*N-1 nodes, half size)
* - Quantized no-leaf trees (N-1 nodes, half size)
*
* Usage:
*
* 1) Build an OPCODE_Model using a creation structure:
*
* \code
* OPCODE_Model Sample;
*
* OPCODECREATE OPCC;
* OPCC.NbTris = ...;
* OPCC.NbVerts = ...;
* OPCC.Tris = ...;
* OPCC.Verts = ...;
* OPCC.Rules = ...;
* OPCC.NoLeaf = ...;
* OPCC.Quantized = ...;
* Sample.Build(OPCC);
* \endcode
*
* 2) Create a tree collider and setup it:
*
* \code
* AABBTreeCollider TC;
* TC.SetFirstContact(...);
* TC.SetFullBoxBoxTest(...);
* TC.SetFullPrimBoxTest(...);
* TC.SetTemporalCoherence(...);
* \endcode
*
* 3) Setup object callbacks. Geometry & topology are NOT stored in the collision system,
* in order to save some ram. So, when the system needs them to perform accurate intersection
* tests, you're requested to provide the triangle-vertices corresponding to a given face index.
*
* Ex:
*
* \code
* static void ColCallback(udword triangleindex, VertexPointers& triangle, udword userdata)
* {
* // Get back Mesh0 or Mesh1 (you also can use 2 different callbacks)
* Mesh* MyMesh = (Mesh*)userdata;
* // Get correct triangle in the app-controlled database
* const Triangle* Tri = MyMesh->GetTriangle(triangleindex);
* // Setup pointers to vertices for the collision system
* triangle.Vertex[0] = MyMesh->GetVertex(Tri->mVRef[0]);
* triangle.Vertex[1] = MyMesh->GetVertex(Tri->mVRef[1]);
* triangle.Vertex[2] = MyMesh->GetVertex(Tri->mVRef[2]);
* }
*
* // Setup callbacks
* TC.SetUserData0(udword(Mesh0));
* TC.SetUserData1(udword(Mesh1));
* TC.SetCallbackObj0(ColCallback);
* TC.SetCallbackObj1(ColCallback);
* \endcode
*
* Of course, you should make this callback as fast as possible. And you're also not supposed
* to modify the geometry *after* the collision trees have been built. The alternative was to
* store the geometry & topology in the collision system as well (as in RAPID) but we have found
* this approach to waste a lot of ram in many cases.
*
* 4) Perform a collision query
*
* \code
* // Setup cache
* static BVTCache ColCache;
* ColCache.Model0 = &Model0;
* ColCache.Model1 = &Model1;
*
* // Collision query
* bool IsOk = TC.Collide(ColCache, World0, World1);
*
* // Get collision status => if true, objects overlap
* bool Status = TC.GetContactStatus();
*
* // Number of colliding pairs and list of pairs
* udword NbPairs = TC.GetNbPairs();
* Pair* p = TC.GetPairs()
* \endcode
*
* 5) Stats
*
* \code
* Model0.GetUsedBytes() = number of bytes used for this collision tree
* TC.GetNbBVBVTests() = number of BV-BV overlap tests performed during last query
* TC.GetNbPrimPrimTests() = number of Triangle-Triangle overlap tests performed during last query
* TC.GetNbBVPrimTests() = number of Triangle-BV overlap tests performed during last query
* \endcode
*
* \class OPCODE_Model
* \author Pierre Terdiman
* \version 1.0
* \date March, 20, 2001
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Precompiled Header
#include "Stdafx.h"
using namespace Opcode;
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Constructor.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
OPCODE_Model::OPCODE_Model() : mSource(null), mTree(null), mNoLeaf(false), mQuantized(false)
{
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Destructor.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
OPCODE_Model::~OPCODE_Model()
{
DELETESINGLE(mSource);
DELETESINGLE(mTree);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* A method to build a collision model.
* \param create [in] model creation structure
* \return true if success
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool OPCODE_Model::Build(const OPCODECREATE& create)
{
// 1) Checkings
if(!create.NbTris || !create.Tris || !create.Verts) return false;
// In this lib, we only support complete trees
if(!(create.Rules&SPLIT_COMPLETE))
{
SetIceError("OPCODE WARNING: supports complete trees only! Use SPLIT_COMPLETE.\n");
return false;
}
// Check topology
const Triangle* Tris = (const Triangle*)create.Tris;
udword NbDegenerate = 0;
for(udword i=0;i<create.NbTris;i++)
{
if(Tris[i].IsDegenerate()) NbDegenerate++;
}
if(NbDegenerate) SetIceError("OPCODE WARNING: found degenerate faces in model! Collision might report wrong results!\n");
// 2) Build a generic AABB Tree.
mSource = new AABBTree;
CHECKALLOC(mSource);
// Setup a builder
AABBTreeOfTrianglesBuilder TB;
TB.mTriList = Tris;
TB.mVerts = create.Verts;
TB.mRules = create.Rules;
TB.mNbPrimitives = create.NbTris;
if(!mSource->Build(&TB)) return false;
// 3) Create an optimized tree according to user-settings
mNoLeaf = create.NoLeaf;
mQuantized = create.Quantized;
if(mNoLeaf)
{
if(mQuantized) mTree = new AABBQuantizedNoLeafTree;
else mTree = new AABBNoLeafTree;
}
else
{
if(mQuantized) mTree = new AABBQuantizedTree;
else mTree = new AABBCollisionTree;
}
CHECKALLOC(mTree);
// Create optimized tree
if(!mTree->Build(mSource)) return false;
// Delete generic tree if needed
if(!create.KeepOriginal) DELETESINGLE(mSource);
return true;
}
// END-OF-FILE
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