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scummvm-cursorfix/engines/hpl1/engine/libraries/newton/physics/dgCollisionCapsule.cpp
Leon Krieg 5b11698731 Initial commit
2026-02-02 04:50:13 +01:00

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/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
*
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
*
* 3. This notice may not be removed or altered from any source distribution.
*/
#include "dgCollisionCapsule.h"
#include "dgBody.h"
#include "dgContact.h"
#include "hpl1/engine/libraries/newton/core/dg.h"
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
dgInt32 dgCollisionCapsule::m_shapeRefCount = 0;
dgConvexSimplexEdge dgCollisionCapsule::m_edgeArray[DG_CAPSULE_SEGMENTS * (6 + 8 * (DG_CAP_SEGMENTS - 1))];
dgCollisionCapsule::dgCollisionCapsule(dgMemoryAllocator *allocator,
dgUnsigned32 signature, dgFloat32 radius, dgFloat32 height,
const dgMatrix &matrix) : dgCollisionConvex(allocator, signature, matrix, m_capsuleCollision) {
Init(radius, height);
}
dgCollisionCapsule::dgCollisionCapsule(dgWorld *const world,
dgDeserialize deserialization, void *const userData) : dgCollisionConvex(world, deserialization, userData) {
dgVector size;
deserialization(userData, &size, sizeof(dgVector));
Init(size.m_x, size.m_y);
}
dgCollisionCapsule::~dgCollisionCapsule() {
m_shapeRefCount--;
NEWTON_ASSERT(m_shapeRefCount >= 0);
dgCollisionConvex::m_simplex = NULL;
dgCollisionConvex::m_vertex = NULL;
}
void dgCollisionCapsule::Init(dgFloat32 radius, dgFloat32 height) {
// dgInt32 i;
// dgInt32 j;
// dgInt32 i0;
// dgInt32 i1;
// dgFloat32 x;
// dgFloat32 y;
// dgFloat32 z;
// dgFloat32 r;
// dgFloat32 angle;
// dgEdge *edge;
m_rtti |= dgCollisionCapsule_RTTI;
dgInt32 i0 = 0;
dgInt32 i1 = DG_CAPSULE_SEGMENTS * DG_CAP_SEGMENTS * 2;
m_radius = dgAbsf(radius);
m_height[0] = GetMax(dgFloat32(0.01f),
dgAbsf(height * dgFloat32(0.5f)) - m_radius);
m_height[1] = -m_height[0];
m_silhuette[0] = dgVector(m_height[0], -m_radius, dgFloat32(0.0f),
dgFloat32(0.0f));
m_silhuette[1] = dgVector(-m_height[0], -m_radius, dgFloat32(0.0f),
dgFloat32(0.0f));
m_silhuette[2] = dgVector(-m_height[0], m_radius, dgFloat32(0.0f),
dgFloat32(0.0f));
m_silhuette[3] = dgVector(m_height[0], m_radius, dgFloat32(0.0f),
dgFloat32(0.0f));
m_tethaStep = GetDiscretedAngleStep(m_radius);
m_tethaStepInv = dgFloat32(1.0f) / m_tethaStep;
m_delCosTetha = dgCos(m_tethaStep);
m_delSinTetha = dgSin(m_tethaStep);
// dgFloat32 x = dgFloat32 (0.5f) * m_radius / DG_CAP_SEGMENTS;
for (dgInt32 j = 0; j < DG_CAP_SEGMENTS; j++) {
dgFloat32 angle = dgFloat32(0.0f);
dgFloat32 x = (DG_CAP_SEGMENTS - j - 1) * m_radius / DG_CAP_SEGMENTS;
dgFloat32 r = dgSqrt(m_radius * m_radius - x * x);
i1 -= DG_CAPSULE_SEGMENTS;
for (dgInt32 i = 0; i < DG_CAPSULE_SEGMENTS; i++) {
dgFloat32 z = dgSin(angle) * r;
dgFloat32 y = dgCos(angle) * r;
m_vertex[i0] = dgVector(-(m_height[0] + x), y, z, dgFloat32(1.0f));
m_vertex[i1] = dgVector((m_height[0] + x), y, z, dgFloat32(1.0f));
i0++;
i1++;
angle += dgPI2 / DG_CAPSULE_SEGMENTS;
}
i1 -= DG_CAPSULE_SEGMENTS;
}
m_vertexCount = DG_CAPSULE_SEGMENTS * DG_CAP_SEGMENTS * 2;
m_edgeCount = DG_CAPSULE_SEGMENTS * (6 + 8 * (DG_CAP_SEGMENTS - 1));
dgCollisionConvex::m_vertex = m_vertex;
if (!m_shapeRefCount) {
dgPolyhedra polyhedra(m_allocator);
dgInt32 wireframe[DG_CAPSULE_SEGMENTS + 10];
i1 = 0;
i0 = DG_CAPSULE_SEGMENTS - 1;
polyhedra.BeginFace();
for (dgInt32 j = 0; j < DG_CAP_SEGMENTS * 2 - 1; j++) {
for (dgInt32 i = 0; i < DG_CAPSULE_SEGMENTS; i++) {
wireframe[0] = i0;
wireframe[1] = i1;
wireframe[2] = i1 + DG_CAPSULE_SEGMENTS;
wireframe[3] = i0 + DG_CAPSULE_SEGMENTS;
i0 = i1;
i1++;
polyhedra.AddFace(4, wireframe);
}
i0 = i1 + DG_CAPSULE_SEGMENTS - 1;
}
for (dgInt32 i = 0; i < DG_CAPSULE_SEGMENTS; i++) {
wireframe[i] = DG_CAPSULE_SEGMENTS - 1 - i;
}
polyhedra.AddFace(DG_CAPSULE_SEGMENTS, wireframe);
for (dgInt32 i = 0; i < DG_CAPSULE_SEGMENTS; i++) {
wireframe[i] = i + DG_CAPSULE_SEGMENTS * (DG_CAP_SEGMENTS * 2 - 1);
}
polyhedra.AddFace(DG_CAPSULE_SEGMENTS, wireframe);
polyhedra.EndFace();
NEWTON_ASSERT(SanityCheck(polyhedra));
dgUnsigned64 i = 0;
dgPolyhedra::Iterator iter(polyhedra);
for (iter.Begin(); iter; iter++) {
dgEdge *const edge = &(*iter);
edge->m_userData = i;
i++;
}
for (iter.Begin(); iter; iter++) {
dgEdge *const edge = &(*iter);
dgConvexSimplexEdge *const ptr = &m_edgeArray[edge->m_userData];
ptr->m_vertex = edge->m_incidentVertex;
ptr->m_next = &m_edgeArray[edge->m_next->m_userData];
ptr->m_prev = &m_edgeArray[edge->m_prev->m_userData];
ptr->m_twin = &m_edgeArray[edge->m_twin->m_userData];
}
}
m_shapeRefCount++;
dgCollisionConvex::m_simplex = m_edgeArray;
SetVolumeAndCG();
dgVector inertia;
dgVector centerOfMass;
dgVector crossInertia;
m_volume.m_w = CalculateMassProperties(inertia, crossInertia, centerOfMass);
}
dgInt32 dgCollisionCapsule::CalculateSignature() const {
dgUnsigned32 buffer[2 * sizeof(dgMatrix) / sizeof(dgInt32)];
memset(buffer, 0, sizeof(buffer));
buffer[0] = m_capsuleCollision;
buffer[1] = dgCollision::Quantize(m_radius);
buffer[2] = dgCollision::Quantize(m_height[0]);
memcpy(&buffer[3], &m_offset, sizeof(dgMatrix));
return dgInt32(dgCollision::MakeCRC(buffer, sizeof(buffer)));
}
void dgCollisionCapsule::TesselateTriangle(dgInt32 level, dgFloat32 side,
const dgVector &p0, const dgVector &p1, const dgVector &p2, dgInt32 &count,
dgVector *ouput) const {
if (level) {
NEWTON_ASSERT(dgAbsf(p0 % p0 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
NEWTON_ASSERT(dgAbsf(p1 % p1 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
NEWTON_ASSERT(dgAbsf(p2 % p2 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
dgVector p01(p0 + p1);
dgVector p12(p1 + p2);
dgVector p20(p2 + p0);
p01 = p01.Scale(dgFloat32(1.0f) / dgSqrt(p01 % p01));
p12 = p12.Scale(dgFloat32(1.0f) / dgSqrt(p12 % p12));
p20 = p20.Scale(dgFloat32(1.0f) / dgSqrt(p20 % p20));
NEWTON_ASSERT(dgAbsf(p01 % p01 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
NEWTON_ASSERT(dgAbsf(p12 % p12 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
NEWTON_ASSERT(dgAbsf(p20 % p20 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
TesselateTriangle(level - 1, side, p0, p01, p20, count, ouput);
TesselateTriangle(level - 1, side, p1, p12, p01, count, ouput);
TesselateTriangle(level - 1, side, p2, p20, p12, count, ouput);
TesselateTriangle(level - 1, side, p01, p12, p20, count, ouput);
} else {
ouput[count + 0] = p0.Scale(m_radius);
ouput[count + 1] = p1.Scale(m_radius);
ouput[count + 2] = p2.Scale(m_radius);
ouput[count + 0].m_x += side;
ouput[count + 1].m_x += side;
ouput[count + 2].m_x += side;
count += 3;
}
}
void dgCollisionCapsule::DebugCollision(const dgMatrix &matrixPtr,
OnDebugCollisionMeshCallback callback, void *const userData) const {
dgInt32 i0;
dgInt32 i1;
dgInt32 j0;
dgInt32 j1;
dgInt32 count;
dgFloat32 y;
dgFloat32 z;
dgFloat32 angle;
#define POWER 2
#define STEPS (4 * (1 << POWER))
dgTriplex face[32];
dgTriplex pool[1024];
dgVector tmpVectex[1024];
angle = dgFloat32(0.0f);
for (i0 = 0; i0 < STEPS; i0++) {
z = dgSin(angle) * m_radius;
y = dgCos(angle) * m_radius;
tmpVectex[i0].m_x = -m_height[0];
tmpVectex[i0].m_y = y;
tmpVectex[i0].m_z = z;
tmpVectex[i0 + STEPS].m_x = m_height[0];
tmpVectex[i0 + STEPS].m_y = y;
tmpVectex[i0 + STEPS].m_z = z;
angle += dgPI2 / dgFloat32(STEPS);
}
dgVector p0(dgFloat32(1.0f), dgFloat32(0.0f), dgFloat32(0.0f),
dgFloat32(0.0f));
dgVector p1(-dgFloat32(1.0f), dgFloat32(0.0f), dgFloat32(0.0f),
dgFloat32(0.0f));
dgVector p2(dgFloat32(0.0f), dgFloat32(1.0f), dgFloat32(0.0f),
dgFloat32(0.0f));
dgVector p3(dgFloat32(0.0f), -dgFloat32(1.0f), dgFloat32(0.0f),
dgFloat32(0.0f));
dgVector p4(dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(1.0f),
dgFloat32(0.0f));
dgVector p5(dgFloat32(0.0f), dgFloat32(0.0f), -dgFloat32(1.0f),
dgFloat32(0.0f));
count = STEPS * 2;
TesselateTriangle(POWER, m_height[0], p0, p2, p4, count, tmpVectex);
TesselateTriangle(POWER, m_height[0], p0, p4, p3, count, tmpVectex);
TesselateTriangle(POWER, m_height[0], p0, p3, p5, count, tmpVectex);
TesselateTriangle(POWER, m_height[0], p0, p5, p2, count, tmpVectex);
TesselateTriangle(POWER, -m_height[0], p1, p4, p2, count, tmpVectex);
TesselateTriangle(POWER, -m_height[0], p1, p3, p4, count, tmpVectex);
TesselateTriangle(POWER, -m_height[0], p1, p5, p3, count, tmpVectex);
TesselateTriangle(POWER, -m_height[0], p1, p2, p5, count, tmpVectex);
dgMatrix matrix(GetOffsetMatrix() * matrixPtr);
matrix.TransformTriplex(&pool[0].m_x, sizeof(dgTriplex), &tmpVectex[0].m_x,
sizeof(dgVector), count);
i0 = STEPS - 1;
j1 = STEPS;
j0 = STEPS + STEPS - 1;
for (i1 = 0; i1 < STEPS; i1++) {
face[0] = pool[i0];
face[1] = pool[i1];
face[2] = pool[j1];
face[3] = pool[j0];
callback(userData, 4, &face[0].m_x, 0);
i0 = i1;
j0 = j1;
j1++;
}
for (i1 = STEPS * 2; i1 < count; i1 += 3) {
callback(userData, 3, &pool[i1].m_x, 0);
}
}
void dgCollisionCapsule::SetCollisionBBox(const dgVector &p0__,
const dgVector &p1__) {
NEWTON_ASSERT(0);
}
dgVector dgCollisionCapsule::SupportVertexSimd(const dgVector &dir) const {
#ifdef DG_BUILD_SIMD_CODE
dgInt32 index;
dgFloatSign *ptr;
NEWTON_ASSERT(dgAbsf(dir % dir - dgFloat32(1.0f)) < dgFloat32(1.0e-3f));
ptr = (dgFloatSign *)&dir;
index = -(ptr[0].m_integer.m_iVal >> 31);
dgVector p(dir.Scale(m_radius));
p.m_x += m_height[index];
return p;
#else
return dgVector(dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
#endif
}
dgVector dgCollisionCapsule::SupportVertex(const dgVector &dir) const {
dgInt32 index;
const dgFloatSign *ptr;
NEWTON_ASSERT(dgAbsf(dir % dir - dgFloat32(1.0f)) < dgFloat32(1.0e-3f));
ptr = (const dgFloatSign *)&dir;
index = -(ptr[0].m_integer.m_iVal >> 31);
dgVector p(dir.Scale(m_radius));
p.m_x += m_height[index];
return p;
}
dgFloat32 dgCollisionCapsule::RayCast(const dgVector &q0, const dgVector &q1, dgContactPoint &contactOut, OnRayPrecastAction preFilter, const dgBody *const body, void *const userData) const {
if (PREFILTER_RAYCAST(preFilter, reinterpret_cast<const NewtonBody *>(body), reinterpret_cast<const NewtonCollision *>(this), userData)) {
return dgFloat32(1.2f);
}
dgFloat32 t = dgFloat32(1.2f);
dgVector p0(q0);
p0.m_x = dgFloat32(0.0f);
dgFloat32 radius = m_radius;
dgFloat32 c = (p0 % p0) - radius * radius;
if (c > dgFloat32(0.0f)) {
dgVector p1(q1);
p1.m_x = dgFloat32(0.0f);
dgVector dp(p1 - p0);
dgFloat32 a = dp % dp;
dgFloat32 b = dgFloat32(2.0f) * (p0 % dp);
dgFloat32 desc = b * b - dgFloat32(4.0f) * a * c;
if (desc > dgFloat32(1.0e-8f)) {
desc = dgSqrt(desc);
a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
dgFloat32 t1 = GetMin((-b + desc) * a, (-b - desc) * a);
if ((t1 >= dgFloat32(0.0f)) && t1 < dgFloat32(1.0f)) {
dgFloat32 x = q0.m_x + (q1.m_x - q0.m_x) * t1;
if (x > m_height[0]) {
dgVector h(m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
dgVector dq(q1 - q0);
dgVector dqp0(q0 - h);
a = dq % dq;
b = dgFloat32(2.0f) * (dqp0 % dq);
c = dqp0 % dqp0 - radius * radius;
desc = b * b - dgFloat32(4.0f) * a * c;
if (desc > dgFloat32(1.0e-8f)) {
desc = dgSqrt(desc);
a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
t1 = GetMin((-b + desc) * a, (-b - desc) * a);
if ((t1 >= dgFloat32(0.0f)) && t1 < dgFloat32(1.0f)) {
t = t1;
dgVector n(q0 + dq.Scale(t) - h);
contactOut.m_normal = n.Scale(dgRsqrt(n % n));
contactOut.m_userId = SetUserDataID();
}
}
} else if (x < -m_height[0]) {
dgVector h(-m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
dgVector dq(q1 - q0);
dgVector dqp0(q0 - h);
a = dq % dq;
b = dgFloat32(2.0f) * (dqp0 % dq);
c = dqp0 % dqp0 - radius * radius;
desc = b * b - dgFloat32(4.0f) * a * c;
if (desc > dgFloat32(1.0e-8f)) {
desc = dgSqrt(desc);
a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
t1 = GetMin((-b + desc) * a, (-b - desc) * a);
if ((t1 >= dgFloat32(0.0f)) && t1 < dgFloat32(1.0f)) {
t = t1;
dgVector n(q0 + dq.Scale(t) - h);
contactOut.m_normal = n.Scale(dgRsqrt(n % n));
contactOut.m_userId = SetUserDataID();
}
}
} else {
t = t1;
dgVector n(p0 + dp.Scale(t));
contactOut.m_normal = n.Scale(dgRsqrt(n % n));
contactOut.m_userId = SetUserDataID();
}
}
}
} else {
if (q0.m_x > m_height[0]) {
dgVector h(m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
dgVector dq(q1 - q0);
dgVector dqp0(q0 - h);
dgFloat32 a = dq % dq;
dgFloat32 b = dgFloat32(2.0f) * (dqp0 % dq);
dgFloat32 d = dqp0 % dqp0 - radius * radius;
if (d > dgFloat32(0.0f)) {
dgFloat32 desc = b * b - dgFloat32(4.0f) * a * d;
if (desc > dgFloat32(1.0e-8f)) {
dgFloat32 t1;
desc = dgSqrt(desc);
a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
t1 = GetMin((-b + desc) * a, (-b - desc) * a);
if (t1 >= dgFloat32(0.0f)) {
t = t1;
dgVector n(q0 + dq.Scale(t) - h);
contactOut.m_normal = n.Scale(dgRsqrt(n % n));
contactOut.m_userId = SetUserDataID();
}
}
}
} else if (q0.m_x < -m_height[0]) {
dgVector h(-m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
dgVector dq(q1 - q0);
dgVector dqp0(q0 - h);
dgFloat32 a = dq % dq;
dgFloat32 b = dgFloat32(2.0f) * (dqp0 % dq);
dgFloat32 d = dqp0 % dqp0 - radius * radius;
if (d > dgFloat32(0.0f)) {
dgFloat32 desc = b * b - dgFloat32(4.0f) * a * d;
if (desc > dgFloat32(1.0e-8f)) {
dgFloat32 t1;
desc = dgSqrt(desc);
a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
t1 = GetMin((-b + desc) * a, (-b - desc) * a);
if (t1 >= dgFloat32(0.0f)) {
t = t1;
dgVector n(q0 + dq.Scale(t) - h);
contactOut.m_normal = n.Scale(dgRsqrt(n % n));
contactOut.m_userId = SetUserDataID();
}
}
}
}
}
return t;
}
dgFloat32 dgCollisionCapsule::RayCastSimd(const dgVector &q0,
const dgVector &q1, dgContactPoint &contactOut,
OnRayPrecastAction preFilter, const dgBody *const body,
void *const userData) const {
return RayCast(q0, q1, contactOut, preFilter, body, userData);
}
dgFloat32 dgCollisionCapsule::CalculateMassProperties(dgVector &inertia,
dgVector &crossInertia, dgVector &centerOfMass) const {
dgFloat32 volume;
dgFloat32 inertiaxx;
dgFloat32 inertiayyzz;
dgFloat32 cylVolume;
dgFloat32 sphVolume;
dgFloat32 cylInertiaxx;
dgFloat32 sphInertiaxx;
dgFloat32 cylInertiayyzz;
dgFloat32 sphInertiayyzz;
centerOfMass = GetOffsetMatrix().m_posit;
cylVolume = dgFloat32(3.1616f * 2.0f) * m_radius * m_radius * m_height[0];
sphVolume = dgFloat32(3.1616f * 4.0f / 3.0f) * m_radius * m_radius * m_radius;
cylInertiaxx = (dgFloat32(0.5f) * m_radius * m_radius) * cylVolume;
sphInertiaxx = (dgFloat32(2.0f / 5.0f) * m_radius * m_radius) * sphVolume;
cylInertiayyzz = (dgFloat32(0.25f) * m_radius * m_radius + dgFloat32(1.0f / 3.0f) * m_height[0] * m_height[0]) * cylVolume;
sphInertiayyzz = sphInertiaxx + m_height[0] * m_height[0] * sphVolume;
volume = cylVolume + sphVolume;
inertiaxx = cylInertiaxx + sphInertiaxx;
inertiayyzz = cylInertiayyzz + sphInertiayyzz;
dgMatrix inertiaTensor(dgGetIdentityMatrix());
inertiaTensor[0][0] = inertiaxx;
inertiaTensor[1][1] = inertiayyzz;
inertiaTensor[2][2] = inertiayyzz;
inertiaTensor = GetOffsetMatrix().Inverse() * inertiaTensor * GetOffsetMatrix();
crossInertia.m_x = inertiaTensor[1][2] - volume * centerOfMass.m_y * centerOfMass.m_z;
crossInertia.m_y = inertiaTensor[0][2] - volume * centerOfMass.m_z * centerOfMass.m_x;
crossInertia.m_z = inertiaTensor[0][1] - volume * centerOfMass.m_x * centerOfMass.m_y;
dgVector central(centerOfMass.CompProduct(centerOfMass));
inertia.m_x = inertiaTensor[0][0] + volume * (central.m_y + central.m_z);
inertia.m_y = inertiaTensor[1][1] + volume * (central.m_z + central.m_x);
inertia.m_z = inertiaTensor[2][2] + volume * (central.m_x + central.m_y);
centerOfMass = centerOfMass.Scale(volume);
return volume;
}
dgInt32 dgCollisionCapsule::CalculatePlaneIntersectionSimd(
const dgVector &normal, const dgVector &origin,
dgVector *const contactsOut) const {
#ifdef DG_BUILD_SIMD_CODE
return dgCollisionCapsule::CalculatePlaneIntersection(normal, origin,
contactsOut);
#else
return 0;
#endif
}
dgInt32 dgCollisionCapsule::CalculatePlaneIntersection(const dgVector &normal,
const dgVector &origin, dgVector *const contactsOut) const {
dgInt32 count = 0;
if (dgAbsf(normal.m_x) > dgFloat32(0.999f)) {
dgVector center1(-m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
dgVector p1(center1 - normal.Scale((center1 - origin) % normal));
if (p1.m_x < (-m_height[0])) {
dgFloat32 t = normal % (p1 - origin);
contactsOut[0] = p1 - normal.Scale(t);
return 1;
} else {
dgVector center0(m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
dgVector p0(center0 - normal.Scale((center0 - origin) % normal));
if (p0.m_x > m_height[0]) {
dgFloat32 t = normal % (p0 - origin);
contactsOut[0] = p0 - normal.Scale(t);
return 1;
}
}
} else {
dgFloat32 magInv = dgRsqrt(normal.m_y * normal.m_y + normal.m_z * normal.m_z);
dgFloat32 cosAng = normal.m_y * magInv;
dgFloat32 sinAng = normal.m_z * magInv;
NEWTON_ASSERT(dgAbsf(normal.m_z * cosAng - normal.m_y * sinAng) < dgFloat32(1.0e-4f));
dgVector normal1(normal.m_x, normal.m_y * cosAng + normal.m_z * sinAng, dgFloat32(0.0f), dgFloat32(0.0f));
dgVector origin1(origin.m_x, origin.m_y * cosAng + origin.m_z * sinAng,
origin.m_z * cosAng - origin.m_y * sinAng, dgFloat32(0.0f));
dgPlane plane(normal1, -(normal1 % origin1));
dgVector maxDir((normal1.m_x > dgFloat32(0.0f)) ? m_silhuette[3].m_x : -m_silhuette[3].m_x,
(normal1.m_y > dgFloat32(0.0f)) ? m_silhuette[3].m_y : -m_silhuette[3].m_y, dgFloat32(0.0f), dgFloat32(0.0f));
dgFloat32 test0 = plane.Evalue(maxDir);
dgFloat32 test1 = plane.Evalue(maxDir.Scale(dgFloat32(-1.0f)));
if ((test0 * test1) > dgFloat32(0.0f)) {
dgVector center1(-m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
dgVector p1(center1 - normal.Scale((center1 - origin) % normal));
if (p1.m_x < (-m_height[0])) {
dgFloat32 t = normal % (p1 - origin);
contactsOut[0] = p1 - normal.Scale(t);
return 1;
} else {
dgVector center0(m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
dgVector p0(center0 - normal.Scale((center0 - origin) % normal));
if (p0.m_x > m_height[0]) {
dgFloat32 t = normal % (p0 - origin);
contactsOut[0] = p0 - normal.Scale(t);
return 1;
}
}
} else {
dgVector dp(m_silhuette[1] - m_silhuette[0]);
dgFloat32 den = normal1 % dp;
if (dgAbsf(den) > dgFloat32(0.0f)) {
test0 = -plane.Evalue(m_silhuette[0]) / den;
if ((test0 <= dgFloat32(1.0)) && (test0 >= dgFloat32(0.0f))) {
contactsOut[count] = m_silhuette[0] + dp.Scale(test0);
count++;
}
}
if (count < 2) {
test0 = plane.m_w - plane.m_x * m_height[0];
if (dgAbsf(test0) < m_radius) {
dgFloat32 r = -m_height[0];
dgFloat32 d = plane.m_w + r * plane.m_x;
dgFloat32 a = plane.m_x * plane.m_x + plane.m_y * plane.m_y;
dgFloat32 b = dgFloat32(2.0f) * plane.m_x * d;
dgFloat32 c = d * d - m_radius * m_radius * plane.m_y * plane.m_y;
dgFloat32 desc = b * b - dgFloat32(4.0f) * a * c;
if (desc > dgFloat32(0.0f)) {
NEWTON_ASSERT(dgAbsf(a) > dgFloat32(0.0f));
desc = dgSqrt(desc);
a = -dgFloat32(0.5f) * b / a;
dgFloat32 x0 = a + desc;
dgFloat32 x1 = a - desc;
if (x0 > dgFloat32(0.0f)) {
x0 = x1;
}
if (x0 < 0.0f) {
NEWTON_ASSERT(x0 <= dgFloat32(0.0f));
NEWTON_ASSERT(dgAbsf(plane.m_y) > dgFloat32(0.0f));
dgFloat32 y = -(plane.m_x * x0 + d) / plane.m_y;
contactsOut[count] = dgVector(x0 + r, y, dgFloat32(0.0f),
dgFloat32(0.0f));
count++;
}
}
}
}
if (count < 2) {
dgVector dpp(m_silhuette[3] - m_silhuette[2]);
den = normal1 % dpp;
if (dgAbsf(den) > dgFloat32(0.0f)) {
test0 = -plane.Evalue(m_silhuette[2]) / den;
if ((test0 <= dgFloat32(1.0)) && (test0 >= dgFloat32(0.0f))) {
contactsOut[count] = m_silhuette[2] + dpp.Scale(test0);
count++;
}
}
}
if (count < 2) {
test0 = plane.m_w + plane.m_x * m_height[0];
if (dgAbsf(test0) < m_radius) {
dgFloat32 r = m_height[0];
dgFloat32 d = plane.m_w + r * plane.m_x;
dgFloat32 a = plane.m_x * plane.m_x + plane.m_y * plane.m_y;
dgFloat32 b = dgFloat32(2.0f) * plane.m_x * d;
dgFloat32 c = d * d - m_radius * m_radius * plane.m_y * plane.m_y;
dgFloat32 desc = b * b - dgFloat32(4.0f) * a * c;
if (desc > dgFloat32(0.0f)) {
NEWTON_ASSERT(dgAbsf(a) > dgFloat32(0.0f));
desc = dgSqrt(desc);
a = -dgFloat32(0.5f) * b / a;
dgFloat32 x0 = a + desc;
dgFloat32 x1 = a - desc;
if (x0 < dgFloat32(0.0f)) {
x0 = x1;
}
if (x0 > 0.0f) {
NEWTON_ASSERT(x0 >= dgFloat32(0.0f));
NEWTON_ASSERT(dgAbsf(plane.m_y) > dgFloat32(0.0f));
dgFloat32 y = -(plane.m_x * x0 + d) / plane.m_y;
contactsOut[count] = dgVector(x0 + r, y, dgFloat32(0.0f),
dgFloat32(0.0f));
count++;
}
}
}
}
}
for (dgInt32 i = 0; i < count; i++) {
dgFloat32 y = contactsOut[i].m_y;
dgFloat32 z = contactsOut[i].m_z;
contactsOut[i].m_y = y * cosAng - z * sinAng;
contactsOut[i].m_z = z * cosAng + y * sinAng;
}
}
return count;
}
void dgCollisionCapsule::GetCollisionInfo(dgCollisionInfo *info) const {
dgCollisionConvex::GetCollisionInfo(info);
info->m_capsule.m_r0 = m_radius;
info->m_capsule.m_r1 = m_radius;
info->m_capsule.m_height = dgFloat32(2.0f) * (m_radius + m_height[0]);
info->m_offsetMatrix = GetOffsetMatrix();
// strcpy (info->m_collisionType, "capsule");
info->m_collisionType = m_collsionId;
}
void dgCollisionCapsule::Serialize(dgSerialize callback,
void *const userData) const {
dgVector size(m_radius, dgFloat32(2.0f) * (m_radius + m_height[0]),
dgFloat32(0.0f), dgFloat32(0.0f));
SerializeLow(callback, userData);
callback(userData, &size, sizeof(dgVector));
}
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