collision_checking: collision_checking: collision.cpp Source File

00001 /*
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00034 
00038 #include "collision_checking/collision.h"
00039 
00040 namespace collision_checking
00041 {
00042 
00043 int collide(const BVHModel<OBB>& model1, const Vec3f R1[3], const Vec3f& T1,
00044             const BVHModel<OBB>& model2, const Vec3f R2[3], const Vec3f& T2, BVH_CollideResult* res, BVHFrontList* front_list)
00045 {
00046   if(model1.build_state != BVH_BUILD_STATE_PROCESSED && model1.build_state != BVH_BUILD_STATE_UPDATED)
00047   {
00048     std::cerr << "BVH Error: Must finish BVH model construction before call collide()!" << std::endl;
00049     return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00050   }
00051 
00052   if(model2.build_state != BVH_BUILD_STATE_PROCESSED && model2.build_state != BVH_BUILD_STATE_UPDATED)
00053   {
00054     std::cerr << "BVH Error: Must finish BVH model construction before call collide()!" << std::endl;
00055     return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00056   }
00057 
00058   // currently only support the mesh-mesh collision
00059   if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType()!= BVH_MODEL_TRIANGLES)
00060   {
00061     std::cerr << "BVH Error: Collision only supported between two triangle models." << std::endl;
00062     return BVH_ERR_UNSUPPORTED_FUNCTION;
00063   }
00064 
00065 
00066   res->resetRecord();
00067 
00068   // compute the transform from 1 to 2
00069   Vec3f R1_col[3];
00070   R1_col[0] = Vec3f(R1[0][0], R1[1][0], R1[2][0]);
00071   R1_col[1] = Vec3f(R1[0][1], R1[1][1], R1[2][1]);
00072   R1_col[2] = Vec3f(R1[0][2], R1[1][2], R1[2][2]);
00073 
00074   Vec3f R2_col[3];
00075   R2_col[0] = Vec3f(R2[0][0], R2[1][0], R2[2][0]);
00076   R2_col[1] = Vec3f(R2[0][1], R2[1][1], R2[2][1]);
00077   R2_col[2] = Vec3f(R2[0][2], R2[1][2], R2[2][2]);
00078 
00079   Vec3f R[3];
00080   R[0] = Vec3f(R1_col[0].dot(R2_col[0]), R1_col[0].dot(R2_col[1]), R1_col[0].dot(R2_col[2]));
00081   R[1] = Vec3f(R1_col[1].dot(R2_col[0]), R1_col[1].dot(R2_col[1]), R1_col[1].dot(R2_col[2]));
00082   R[2] = Vec3f(R1_col[2].dot(R2_col[0]), R1_col[2].dot(R2_col[1]), R1_col[2].dot(R2_col[2]));
00083 
00084   Vec3f Ttemp = T2 - T1;
00085   Vec3f T(R1_col[0].dot(Ttemp), R1_col[1].dot(Ttemp), R1_col[2].dot(Ttemp));
00086 
00087   if(front_list && front_list->size() > 0)
00088     propagateBVHFrontList(model1.bvs, model2.bvs, R, T, model1.vertices, model2.vertices, model1.tri_indices, model2.tri_indices, res, front_list);
00089   else
00090     collideRecurse(model1.bvs, model2.bvs, R, T, 0, 0, model1.vertices, model2.vertices, model1.tri_indices, model2.tri_indices, res, front_list);
00091 
00092 
00093   // update the contact position and normal
00094   // contact R1 * c + T1
00095   // normal R1^{-T} * n = R1 * n
00096   for(int i = 0; i < res->numPairs(); ++i)
00097   {
00098     BVHCollisionPair* pairs = res->collidePairs();
00099     Vec3f normal = pairs[i].normal;
00100     pairs[i].normal = Vec3f(R1[0].dot(normal), R1[1].dot(normal), R1[2].dot(normal));
00101     Vec3f pos = pairs[i].contact_point;
00102     pairs[i].contact_point = Vec3f(R1[0].dot(pos), R1[1].dot(pos), R1[2].dot(pos)) + T1;
00103   }
00104 
00105   return BVH_OK;
00106 }
00107 
00108 
00109 int collide(const BVHModel<RSS>& model1, const Vec3f R1[3], const Vec3f& T1,
00110             const BVHModel<RSS>& model2, const Vec3f R2[3], const Vec3f& T2, BVH_CollideResult* res, BVHFrontList* front_list)
00111 {
00112   if(model1.build_state != BVH_BUILD_STATE_PROCESSED && model1.build_state != BVH_BUILD_STATE_UPDATED)
00113   {
00114     std::cerr << "BVH Error: Must finish BVH model construction before call collide()!" << std::endl;
00115     return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00116   }
00117 
00118   if(model2.build_state != BVH_BUILD_STATE_PROCESSED && model2.build_state != BVH_BUILD_STATE_UPDATED)
00119   {
00120     std::cerr << "BVH Error: Must finish BVH model construction before call collide()!" << std::endl;
00121     return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00122   }
00123 
00124   // currently only support the mesh-mesh collision
00125   if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType()!= BVH_MODEL_TRIANGLES)
00126   {
00127     std::cerr << "BVH Error: Collision only supported between two triangle models." << std::endl;
00128     return BVH_ERR_UNSUPPORTED_FUNCTION;
00129   }
00130 
00131 
00132   res->resetRecord();
00133 
00134   // compute the transform from 1 to 2
00135   Vec3f R1_col[3];
00136   R1_col[0] = Vec3f(R1[0][0], R1[1][0], R1[2][0]);
00137   R1_col[1] = Vec3f(R1[0][1], R1[1][1], R1[2][1]);
00138   R1_col[2] = Vec3f(R1[0][2], R1[1][2], R1[2][2]);
00139 
00140   Vec3f R2_col[3];
00141   R2_col[0] = Vec3f(R2[0][0], R2[1][0], R2[2][0]);
00142   R2_col[1] = Vec3f(R2[0][1], R2[1][1], R2[2][1]);
00143   R2_col[2] = Vec3f(R2[0][2], R2[1][2], R2[2][2]);
00144 
00145   Vec3f R[3];
00146   R[0] = Vec3f(R1_col[0].dot(R2_col[0]), R1_col[0].dot(R2_col[1]), R1_col[0].dot(R2_col[2]));
00147   R[1] = Vec3f(R1_col[1].dot(R2_col[0]), R1_col[1].dot(R2_col[1]), R1_col[1].dot(R2_col[2]));
00148   R[2] = Vec3f(R1_col[2].dot(R2_col[0]), R1_col[2].dot(R2_col[1]), R1_col[2].dot(R2_col[2]));
00149 
00150   Vec3f Ttemp = T2 - T1;
00151   Vec3f T(R1_col[0].dot(Ttemp), R1_col[1].dot(Ttemp), R1_col[2].dot(Ttemp));
00152 
00153   if(front_list && front_list->size() > 0)
00154     propagateBVHFrontList(model1.bvs, model2.bvs, R, T, model1.vertices, model2.vertices, model1.tri_indices, model2.tri_indices, res, front_list);
00155   else
00156     collideRecurse(model1.bvs, model2.bvs, R, T, 0, 0, model1.vertices, model2.vertices, model1.tri_indices, model2.tri_indices, res, front_list);
00157 
00158 
00159   // update the contact position and normal
00160   // contact R1 * c + T1
00161   // normal R1^{-T} * n = R1 * n
00162   for(int i = 0; i < res->numPairs(); ++i)
00163   {
00164     BVHCollisionPair* pairs = res->collidePairs();
00165     Vec3f normal = pairs[i].normal;
00166     pairs[i].normal = Vec3f(R1[0].dot(normal), R1[1].dot(normal), R1[2].dot(normal));
00167     Vec3f pos = pairs[i].contact_point;
00168     pairs[i].contact_point = Vec3f(R1[0].dot(pos), R1[1].dot(pos), R1[2].dot(pos)) + T1;
00169   }
00170 
00171   return BVH_OK;
00172 }
00173 
00174 
00175 }
00176