laTriangle3.cpp

/*

Jump'n'Run Engine
http://www.atanaslaskov.com/jnr/

BSD LICENSE
Copyright (c) 2007-2013, Atanas Laskov
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL ATANAS LASKOV BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

*/

#include "stdafx.h"
#include "Core.h"

#define VERRY_SMALL 0.000001

#define TRIANLE_BACK_DIST 0.00001
#define TRIANGLE_SPACING  0.00000001

#define TRIANLE_BACK_DIST 0.00001

//#define M_MIN(a, b) ((a)<(b) ? (a):(b))
//#define M_MIN3(a,b,c) M_MIN(a, M_MIN(b, c))

//#define M_MAX(a, b) ((a)>(b) ? (a):(b))
//#define M_MAX3(a,b,c) M_MAX(a, M_MAX(b, c))

/*void laTriangle3::updateBB()
{
    box.min[0] = M_MIN3(p[0].x(), p[1].x(), p[2].x())-VERRY_SMALL;
    box.min[1] = M_MIN3(p[0].y(), p[1].y(), p[2].y())-VERRY_SMALL;
    box.min[2] = M_MIN3(p[0].z(), p[1].z(), p[2].z())-VERRY_SMALL;

    box.max[0] = M_MAX3(p[0].x(), p[1].x(), p[2].x())+VERRY_SMALL;
    box.max[1] = M_MAX3(p[0].y(), p[1].y(), p[2].y())+VERRY_SMALL;
    box.max[2] = M_MAX3(p[0].z(), p[1].z(), p[2].z())+VERRY_SMALL;
}*/

/*void laTriangle3::Validate()
{
    bValid = 1;
    if(p[0]==p[1])bValid=0;
    if(p[0]==p[2])bValid=0;
    if(p[1]==p[2])bValid=0;
}*/

// Check if a point is inside the folume defined by the 3 planes,
// originating at the edges of the triangle
//
BOOL laTriangle3::isInsideVolume(laPoint3 &pt)
{
    laPoint3 new_p[3];
    new_p[0] = p[0] + pn.normal;
    new_p[1] = p[1] + pn.normal;
    new_p[2] = p[2] + pn.normal;

    laPlane3 pln[3];
    pln[0].build(p[1], p[0], new_p[0]);
    pln[1].build(p[2], p[1], new_p[1]);
    pln[2].build(p[0], p[2], new_p[2]);

    if( (pln[0].distance(pt)>0) &&
        (pln[1].distance(pt)>0) &&
        (pln[2].distance(pt)>0) )
    {
        return TRUE;
    }
    return FALSE;
}

void laTriangle3::wrapPoint(laPoint3 &p)
{
    double len_xz = sqrt(p.x()*p.x() + p.z()*p.z());
    double len_xy = sqrt(p.x()*p.x() + p.y()*p.y());

    laPoint3 oz;
    oz.x(0); oz.y(0); oz.z(1);

    laPoint3 oy;
    oz.x(0); oz.y(1); oz.z(0);

    //ry
    laPoint3 p_xz = p;
    p_xz[1] = 0;

    laPoint3 n_xz = pn.normal;
    n_xz[1] = 0;

    double ry = p_xz.angle(oz) + n_xz.angle(oz);

    //rz
    laPoint3 p_xy = p;
    p_xz[2] = 0;

    laPoint3 n_xy = pn.normal;
    n_xz[2] = 0;

    double rz = p_xy.angle(oy) + n_xy.angle(oy);
    //if(rz>=3.14 ||rz<0){rz=0; len_xy=0; }

    //double ry_sin = pn.n.z();
    //double ry_cos = pn.n.x();

    //double ry = xz.Ang(ox);
    //double rx = yz.Ang(oy);

    //laPoint3 p2 = p;

    //rz
    if( len_xy>=0.001 ){
        p[0] = sin(rz)*len_xy;
        p[1] = cos(rz)*len_xy;
    }
    //if(n_yz.y()>0) p2[1] = -p2.y();

    //p2[0] = + sin(ry);//*p2.z();
    //p2[2] = - cos(ry);//*p2.z();

    //ry
    //if(len_xz!=0){
    //  p2[0] = cos(ry)*len_xz;  //*p2.z();
    //  p2[2] = sin(ry)*len_xz;  //*p2.z();
    //}
    //if(n_xz.x()>0) p2[0] = -p2.x();

    //char c[200];
    //sprintf(c, "a:%.2f  nx:%.2f ny:%.2f", rz*(180/3.14), n_xy.x(), n_xy.y());
    //TextOut(g_hDC, 0, 0, c, strlen(c));

    //p = p2;
}

#define PUSH_LINE(a, b) { arv[vcnt] = b - a; /*arv[vcnt].Minus(a);*/ vcnt++; }

// Collisiton detection and repsonse
//
// t - triangle to collide with
// vt - velocity; outputs modified velocity
//
laPoint3 laTriangle3::collide(laTriangle3 &t, laPoint3 &vt)
{
    //Simple test
    //NOTE: t.box must be inflated!
    //if(!t.box.IsBoxSeparate(box) )return vt;
    //if(!bValid) return vt;
    //if(!t.bValid) return vt;

    //Data
    unsigned i, itri, imy;
    laPoint3 p;
    double k;
    laLine3 ar_tri_procet_lines[3];
    laLine3 ar_my_lines[3];
    laTriangle3 tri_proect;

    //Initial
    laPoint3 vok;
    laPoint3 v_norm_minus;
    laPoint3 v_minus;
    vok = vt;
    v_norm_minus = vt;
    v_norm_minus = -1*v_norm_minus;//.Invert();
    v_norm_minus = v_norm_minus/v_norm_minus.lenght(); //.Normalise();

    v_minus = vt;
    v_minus = -1*v_minus; //.Invert();

    //Back side removal (NOTE: Normalite sa mi na obrratno!:()
    laPoint3 b = this->p[0] + vt;
    if(pn.distance(b)<=0) return vt;

    //Critical lines list
    laPoint3 arv[20];
    unsigned vcnt=0;

    //Tr Vertex In Me
    for(i=0; i<3; i++)
    {
        laLine3 ln;

        ln.build_vec(t.p[i], vt);
        p = ln.intersection(pn, &k);
        tri_proect.p[i] = p;

        if((k>=0) && (k<=1)) if(isInsideVolume(p))
        {
            //if( (pn.GetDist(t.p[i])<0) )
            //if(pn.GetDist(t.p[i])<0) //!!!
            /*if(!l)*/ PUSH_LINE(t.p[i], p);
        }
    }

    //tri_proect.Validate();
    //if(!tri_proect.bValid)return vt;

    //My Vertex In Tr
    for(i=0; i<3; i++)
    {
        laLine3 ln;

        ln.build_vec(this->p[i], v_minus);
        p = ln.intersection(t.pn, &k);

        if((k>=0) && (k<=1)) if(t.isInsideVolume(p))
        {
            //if( (t.pn.GetDist(this->p[i])<0) )
            //if(t.pn.GetDist(this->p[i])>0) //!!!
            /*if(!l)*/ PUSH_LINE(p, this->p[i]);
        }
    }

    //Line
    laLine3 *p_ln_my;
    laLine3 *p_ln_pro_tri;

    getPerimeterLines(ar_my_lines);
    tri_proect.getPerimeterLines(ar_tri_procet_lines);

    for(itri=0; itri<3; itri++)
    {
        p_ln_pro_tri = ar_tri_procet_lines+itri;

        for(imy=0; imy<3; imy++)
        {
            p_ln_my = ar_my_lines+imy;

            double k1, k2;

            laPoint3 p = p_ln_my->intersection(*p_ln_pro_tri, k1);
            p_ln_pro_tri->intersection(*p_ln_my, k2);

            if((k1>=0) && (k1<=1)) if((k2>=0) && (k2<=1))
            {
                double k;
                laLine3 l;
                laPoint3 tr_p;

                l.build_vec(p, v_minus);
                tr_p = l.intersection(t.pn, &k);

                if((k>=0) && (k<=1))
                {
                    PUSH_LINE(tr_p, p);
                }
            }
        }
    }

    for(i=0; i<vcnt; i++)
    {
        if(fabs(arv[i].x())<fabs(vok.x()))
        {
            vok[0] = arv[i].x() + v_norm_minus.x()*TRIANLE_BACK_DIST;
        }
        if(fabs(arv[i].y())<fabs(vok.y()))
        {
            vok[1] = arv[i].y() + v_norm_minus.y()*TRIANLE_BACK_DIST;
        }
        if(fabs(arv[i].z())<fabs(vok.z()))
        {
            vok[2] = arv[i].z() + v_norm_minus.z()*TRIANLE_BACK_DIST;
        }
    }

    // Collision Response
    //
    laPoint3 r;
    r = vt - vok;

    if( (r.lenght()>TRIANLE_BACK_DIST) /*&& (responce)*/ )
    {

        laPoint3 b = r + this->p[0];

        laLine3 l;
        l.build_vec(b, this->pn.normal);

        laPoint3 c;
        double k;
        c = l.intersection(pn, &k);

        laPoint3 vresp = c - this->p[0];
        vok = vok + vresp;

        laPoint3 n;
        n = pn.normal * TRIANLE_BACK_DIST;
        vok = vok - n;

        //vok[0] += v_norm_minus.x()*TRIANLE_BACK_DIST;
        //vok[1] += v_norm_minus.y()*TRIANLE_BACK_DIST;
        //vok[2] += v_norm_minus.z()*TRIANLE_BACK_DIST;
    }

    return vok;
}