EgtGeomKernel 1.6v1 :

- aggiunta verifica collisione tra Box e Triangolo e tra Box e TriMesh - cambiato nome a movimento con verifica collisione tra Regioni semplici (si ignorano eventuali buchi).
2016-10-06 10:26:21 +00:00
parent 7954d0e194
commit 001a767bcf
8 changed files with 243 additions and 29 deletions
@@ -0,0 +1,44 @@
+//----------------------------------------------------------------------------
+//  EgalTech 2016-2016
+//----------------------------------------------------------------------------
+// File : CDBoxPolyhedron.cpp   Data : 05.10.16     Versione : 1.6v1
+// Contenuto : Implementazione della verifica di collisione tra
+//             BoundingBox e Polyhedron.
+//
+//
+// Modifiche : 05.10.16 DS Creazione modulo.
+//
+//
+//----------------------------------------------------------------------------
+
+//--------------------------- Include ----------------------------------------
+#include "stdafx.h"
+#include "/EgtDev/Include/EGkCDBoxTria.h"
+#include "/EgtDev/Include/EGkCDBoxPolyhedron.h"
+
+using namespace std ;
+
+//----------------------------------------------------------------------------
+bool
+CDBoxPolyhedron( const BBox3d& b3Box, const ISurfTriMesh& Stm)
+{
+  // verifico che la trimesh sia effettivamente un poliedro
+   if ( ! Stm.IsClosed())
+      return false ;
+  // recupero BBox del poliedro
+   BBox3d b3Poly ;
+   if ( ! Stm.GetLocalBBox( b3Poly))
+      return false ;
+  // confronto i due Box
+   if ( ! b3Box.Overlaps( b3Poly))
+      return false ;
+  // confronto il Box con tutti i triangoli
+   Triangle3d Tria ;
+   int nId = Stm.GetFirstTriangle( Tria) ;
+   while ( nId != SVT_NULL) {
+      if ( CDBoxTria( b3Box, Tria))
+         return true ;
+      nId = Stm.GetNextTriangle( nId, Tria) ;
+   }
+   return false ;
+}
@@ -0,0 +1,154 @@
+//----------------------------------------------------------------------------
+//  EgalTech 2016-2016
+//----------------------------------------------------------------------------
+// File : CDBoxTria.cpp   Data : 05.10.16     Versione : 1.6v1
+// Contenuto : Implementazione della verifica di collisione tra 
+//             BoundingBox e Triangle3d.
+//
+//
+// Modifiche : 05.10.16 DS Creazione modulo.
+//
+//
+//----------------------------------------------------------------------------
+
+//--------------------------- Include ----------------------------------------
+#include "stdafx.h"
+#include "/EgtDev/Include/EGkCDBoxTria.h"
+#include "/EgtDev/Include/EGkPlane3d.h"
+
+using namespace std ;
+
+//--------------------------------------------------------------------------------
+static bool
+CDBoxPlane( const BBox3d& Box, const Plane3d& Plane)
+{
+   // vedi Ericson, Real-Time Collision Detection, pag. 164
+
+   // Compute box center and extents
+   Point3d  ptCen ;
+   Vector3d vtExt ;
+   if ( ! Box.GetCenterExtent( ptCen, vtExt))
+      return false ;
+
+  // Compute the projection interval radius of b onto L(t) = ptCen + t * Plane.vtN
+   double dR = vtExt.x * abs( Plane.vtN.x) +
+               vtExt.y * abs( Plane.vtN.y) +
+               vtExt.z * abs( Plane.vtN.z) ;
+
+  // Compute distance of box center from plane
+   double dS = ( ptCen - ORIG) * Plane.vtN - Plane.dDist ;
+
+  // Intersection occurs when distance dS falls within [-dR,+dR] interval
+   return ( abs( dS) < dR + EPS_SMALL) ;
+}
+
+//-------------------- Macro for X-tests -------------------------------------
+#define AXISTEST_X01( a, b, fa, fb)    \
+   p0 = a * ptV0.y - b * ptV0.z ;    \
+   p2 = a * ptV2.y - b * ptV2.z ;    \
+   if ( p0 < p2) { dMin = p0 ; dMax = p2 ; } else { dMin = p2 ; dMax = p0 ; } \
+   rad = fa * vtExt.y + fb * vtExt.z ;   \
+   if ( dMin > rad + EPS_SMALL  ||  dMax < - rad - EPS_SMALL) return false ;
+
+#define AXISTEST_X2( a, b, fa, fb)     \
+   p0 = a * ptV0.y - b * ptV0.z ;    \
+   p1 = a * ptV1.y - b * ptV1.z ;    \
+   if ( p0 < p1) { dMin = p0 ; dMax = p1 ; } else { dMin = p1 ; dMax = p0 ; } \
+   rad = fa * vtExt.y + fb * vtExt.z ;   \
+   if ( dMin > rad + EPS_SMALL ||  dMax < -rad - EPS_SMALL) return false ;
+
+//-------------------- Macro for Y-tests -------------------------------------
+#define AXISTEST_Y02( a, b, fa, fb)    \
+   p0 = - a * ptV0.x + b * ptV0.z ;    \
+   p2 = - a * ptV2.x + b * ptV2.z ;    \
+   if ( p0 < p2) { dMin = p0 ; dMax = p2 ; } else { dMin = p2 ; dMax = p0 ; } \
+   rad = fa * vtExt.x + fb * vtExt.z ;   \
+   if ( dMin > rad + EPS_SMALL  ||  dMax < -rad - EPS_SMALL) return false ;
+
+#define AXISTEST_Y1( a, b, fa, fb)     \
+   p0 = - a * ptV0.x + b * ptV0.z ;    \
+   p1 = - a * ptV1.x + b * ptV1.z ;    \
+   if ( p0 < p1) { dMin = p0 ; dMax = p1 ; } else { dMin = p1 ; dMax = p0 ; } \
+   rad = fa * vtExt.x + fb * vtExt.z ;   \
+   if ( dMin > rad + EPS_SMALL  ||  dMax < -rad - EPS_SMALL) return false ;
+
+//-------------------- Macro for Z-tests -------------------------------------
+#define AXISTEST_Z12( a, b, fa, fb)    \
+   p1 = a * ptV1.x - b * ptV1.y ;    \
+   p2 = a * ptV2.x - b * ptV2.y ;    \
+   if ( p2 < p1) { dMin = p2 ; dMax = p1 ; } else { dMin = p1 ; dMax = p2 ; } \
+   rad = fa * vtExt.x + fb * vtExt.y ;   \
+   if ( dMin > rad + EPS_SMALL  ||  dMax < -rad - EPS_SMALL) return false ;
+
+#define AXISTEST_Z0( a, b, fa, fb)     \
+   p0 = a * ptV0.x - b * ptV0.y ;    \
+   p1 = a * ptV1.x - b * ptV1.y ;    \
+   if ( p0 < p1) { dMin = p0 ; dMax = p1 ; } else { dMin = p1 ; dMax = p0 ; } \
+   rad = fa * vtExt.x + fb * vtExt.y ;   \
+   if ( dMin > rad + EPS_SMALL  ||  dMax < -rad - EPS_SMALL) return false ;
+
+
+//----------------------------------------------------------------------------
+bool
+CDBoxTria( const BBox3d& b3Box, const Triangle3d& trTria)
+{
+  // vedi Ericson, Real-Time Collision Detection, pag. 172 + Akenine-Moller
+
+  // Compute box center and extents
+   Point3d  ptCen ;
+   Vector3d vtExt ;
+   if ( ! b3Box.GetCenterExtent( ptCen, vtExt))
+      return false ;
+
+  // Translate triangle as conceptually moving AABB to origin
+   Point3d ptV0 = trTria.GetP( 0) - ( ptCen - ORIG) ;
+   Point3d ptV1 = trTria.GetP( 1) - ( ptCen - ORIG) ;
+   Point3d ptV2 = trTria.GetP( 2) - ( ptCen - ORIG) ;
+
+  // Compute edge vectors for triangle
+   Vector3d vtE0 = ptV1 - ptV0 ;
+   Vector3d vtE1 = ptV2 - ptV1 ;
+   Vector3d vtE2 = ptV0 - ptV2 ;
+
+  // Test axes a00..a22 (category 3)
+   double dMin, dMax, p0, p1, p2, rad, fex, fey, fez ;
+
+   fex = abs( vtE0.x) ;
+   fey = abs( vtE0.y) ;
+   fez = abs( vtE0.z) ;
+   AXISTEST_X01( vtE0.z, vtE0.y, fez, fey)
+   AXISTEST_Y02( vtE0.z, vtE0.x, fez, fex)
+   AXISTEST_Z12( vtE0.y, vtE0.x, fey, fex)
+
+   fex = abs( vtE1.x) ;
+   fey = abs( vtE1.y) ;
+   fez = abs( vtE1.z) ;
+   AXISTEST_X01( vtE1.z, vtE1.y, fez, fey)
+   AXISTEST_Y02( vtE1.z, vtE1.x, fez, fex)
+   AXISTEST_Z0( vtE1.y, vtE1.x, fey, fex)
+
+   fex = abs( vtE2.x) ;
+   fey = abs( vtE2.y) ;
+   fez = abs( vtE2.z) ;
+   AXISTEST_X2( vtE2.z, vtE2.y, fez, fey)
+   AXISTEST_Y1( vtE2.z, vtE2.x, fez, fex)
+   AXISTEST_Z12( vtE2.y, vtE2.x, fey, fex)
+
+  // Test the three axes corresponding to the face normals of AABB Box (category 1).
+   // Exit if...
+   // ... [-e0, e0] and [min(v0.x,v1.x,v2.x), max(v0.x,v1.x,v2.x)] do not overlap
+   if ( max( ptV0.x, max( ptV1.x, ptV2.x)) < - vtExt.x || min( ptV0.x, min( ptV1.x, ptV2.x)) > vtExt.x)
+      return false ;
+   // ... [-e1, e1] and [min(v0.y,v1.y,v2.y), max(v0.y,v1.y,v2.y)] do not overlap
+   if ( max( ptV0.y, max( ptV1.y, ptV2.y)) < - vtExt.y || min( ptV0.y, min( ptV1.y, ptV2.y)) > vtExt.y)
+      return false ;
+   // ... [-e2, e2] and [min(v0.z,v1.z,v2.z), max(v0.z,v1.z,v2.z)] do not overlap
+   if ( max( ptV0.z, max( ptV1.z, ptV2.z)) < - vtExt.z || min( ptV0.z, min( ptV1.z, ptV2.z)) > vtExt.z)
+      return false ;
+
+  // Test separating axis corresponding to triangle face normal (category 2)
+   Plane3d Plane ;
+   Plane.vtN = trTria.GetN() ;
+   Plane.dDist = Plane.vtN * ( trTria.GetP( 0) - ORIG) ;
+   return CDBoxPlane( b3Box, Plane) ;
+}
@@ -1,7 +1,7 @@
 //----------------------------------------------------------------------------
 //  EgalTech 2015-2016
 //----------------------------------------------------------------------------
-// File : SimpleCDSurfFrMove.cpp   Data : 10.01.16     Versione : 1.6l7
+// File : CDSimpleSurfFrMove.cpp   Data : 10.01.16     Versione : 1.6l7
 // Contenuto : Implementazione delle funzioni di movimento per SurfFlatRegion
 //             senza collisione con altri oggetti dello stesso tipo e nello
 //             stesso piano o in piani paralleli.
@@ -14,22 +14,22 @@

 //--------------------------- Include ----------------------------------------
 #include "stdafx.h"
-#include "SimpleCDSurfFrMove.h"
+#include "CDSimpleSurfFrMove.h"
 #include "SurfFlatRegion.h"
 #include "CurveLine.h"
 #include "CurveArc.h"
 #include "CurveComposite.h"
 #include "IntersLineArc.h"
 #include "GeoConst.h"
-#include "/EgtDev/Include/EGkSimpleCDSurfFrMove.h"
+#include "/EgtDev/Include/EGkCDSimpleSurfFrMove.h"
 #include "/EgtDev/Include/EgtPointerOwner.h"

 using namespace std ;

 //----------------------------------------------------------------------------
-// SimpleCDSurfFrMove
+// CDSimpleSurfFrMove
 //----------------------------------------------------------------------------
-SimpleCDSurfFrMove::SimpleCDSurfFrMove( const ISurfFlatRegion& SfrM, const ISurfFlatRegion& SfrF)
+CDSimpleSurfFrMove::CDSimpleSurfFrMove( const ISurfFlatRegion& SfrM, const ISurfFlatRegion& SfrF)
 {
  // salvo puntatori alle regioni
   m_pRegM = &SfrM ;
@@ -38,9 +38,9 @@ SimpleCDSurfFrMove::SimpleCDSurfFrMove( const ISurfFlatRegion& SfrM, const ISurf

 //----------------------------------------------------------------------------
 bool
-SimpleCDSurfFrMove::Translate( const Vector3d& vtDir, double& dLen)
+CDSimpleSurfFrMove::Translate( const Vector3d& vtDir, double& dLen)
 {
-   MySimpleCDSurfFrMove ScdMove ( *m_pRegM, *m_pRegF) ;
+   MyCDSimpleSurfFrMove ScdMove ( *m_pRegM, *m_pRegF) ;
   m_SCollInfo.nType = SCI_NONE ;
   if ( ! ScdMove.Translate( vtDir, dLen))
      return false ;
@@ -50,18 +50,18 @@ SimpleCDSurfFrMove::Translate( const Vector3d& vtDir, double& dLen)

 //----------------------------------------------------------------------------
 bool
-SimpleCDSurfFrMove::Rotate( const Point3d& ptCen, double& dAng)
+CDSimpleSurfFrMove::Rotate( const Point3d& ptCen, double& dAng)
 {
-   MySimpleCDSurfFrMove ScdMove ( *m_pRegM, *m_pRegF) ;
+   MyCDSimpleSurfFrMove ScdMove ( *m_pRegM, *m_pRegF) ;
   m_SCollInfo.nType = SCI_NONE ;
   return ScdMove.Rotate( ptCen, dAng) ;
 }


 //----------------------------------------------------------------------------
-// MySimpleCDSurfFrMove
+// MyCDSimpleSurfFrMove
 //----------------------------------------------------------------------------
-MySimpleCDSurfFrMove::MySimpleCDSurfFrMove( const ISurfFlatRegion& SfrM, const ISurfFlatRegion& SfrF)
+MyCDSimpleSurfFrMove::MyCDSimpleSurfFrMove( const ISurfFlatRegion& SfrM, const ISurfFlatRegion& SfrF)
 {
  // recupero rappresentazione base della regione mobile
   m_pRegM = GetBasicSurfFlatRegion( &SfrM) ;
@@ -77,7 +77,7 @@ MySimpleCDSurfFrMove::MySimpleCDSurfFrMove( const ISurfFlatRegion& SfrM, const I

 //----------------------------------------------------------------------------
 bool
-MySimpleCDSurfFrMove::Translate( const Vector3d& vtDir, double& dLen)
+MyCDSimpleSurfFrMove::Translate( const Vector3d& vtDir, double& dLen)
 {
  // verifico validità regioni
   if ( m_pRegM == nullptr  ||  m_pRegF == nullptr)
@@ -179,7 +179,7 @@ MySimpleCDSurfFrMove::Translate( const Vector3d& vtDir, double& dLen)

 //----------------------------------------------------------------------------
 bool
-MySimpleCDSurfFrMove::Rotate( const Point3d& ptCen, double& dAng)
+MyCDSimpleSurfFrMove::Rotate( const Point3d& ptCen, double& dAng)
 {
  // verifico validità regioni
   if ( m_pRegM == nullptr  ||  m_pRegF == nullptr)
@@ -250,7 +250,7 @@ MySimpleCDSurfFrMove::Rotate( const Point3d& ptCen, double& dAng)
 // Massima traslazione da posizione sicura in direzione e con limite dati 
 //----------------------------------------------------------------------------
 bool
-MySimpleCDSurfFrMove::TranslateCurveNoCollisionCurve( const ICurve* pCrv1, const ICurve* pCrv2,
+MyCDSimpleSurfFrMove::TranslateCurveNoCollisionCurve( const ICurve* pCrv1, const ICurve* pCrv2,
                                                      const Vector3d& vtDir, double& dLen, SCollInfo& scInfo)
 {
  // se entrambe linee, procedo direttamente
@@ -308,7 +308,7 @@ MySimpleCDSurfFrMove::TranslateCurveNoCollisionCurve( const ICurve* pCrv1, const
 // Massima traslazione da posizione sicura in direzione e con limite dati 
 //----------------------------------------------------------------------------
 bool
-MySimpleCDSurfFrMove::TranslateLineNoCollisionLine( const CurveLine* pLine1, const CurveLine* pLine2,
+MyCDSimpleSurfFrMove::TranslateLineNoCollisionLine( const CurveLine* pLine1, const CurveLine* pLine2,
                                                    const Vector3d& vtDir, double& dLen, SCollInfo& scInfo)
 {
  // versore ortogonale al movimento
@@ -422,7 +422,7 @@ MySimpleCDSurfFrMove::TranslateLineNoCollisionLine( const CurveLine* pLine1, con
 // Massima rotazione da posizione sicura in direzione e con limite dati 
 //----------------------------------------------------------------------------
 bool
-MySimpleCDSurfFrMove::RotateCurveNoCollisionCurve( const ICurve* pCrv1, const ICurve* pCrv2,
+MyCDSimpleSurfFrMove::RotateCurveNoCollisionCurve( const ICurve* pCrv1, const ICurve* pCrv2,
                                                   const Point3d& ptCen, double& dAng)
 {
  // se entrambe linee, procedo direttamente
@@ -470,7 +470,7 @@ MySimpleCDSurfFrMove::RotateCurveNoCollisionCurve( const ICurve* pCrv1, const IC
 // Massima rotazione da posizione sicura in direzione e con limite dati 
 //----------------------------------------------------------------------------
 bool
-MySimpleCDSurfFrMove::RotateLineNoCollisionLine( const CurveLine* pLine1, const CurveLine* pLine2,
+MyCDSimpleSurfFrMove::RotateLineNoCollisionLine( const CurveLine* pLine1, const CurveLine* pLine2,
                                                 const Point3d& ptCen, double& dAng)
 {
  // senso di rotazione
@@ -1,7 +1,7 @@
 //----------------------------------------------------------------------------
 //  EgalTech 2015-2016
 //----------------------------------------------------------------------------
-// File : SimpleCDSurfFrMove.h      Data : 10.01.16    Versione : 1.6l7
+// File : CDSimpleSurfFrMove.h      Data : 10.01.16    Versione : 1.6l7
 // Contenuto : Dich.ne classe privata per movimento di superfici flat region
 //             nel loro piano con semplice verifica di collisione
 //             (ovvero controllando solo gli esterni).
@@ -13,16 +13,16 @@

 #pragma once

-#include "/EgtDev/Include/EGkSimpleCDSurfFrMove.h"
+#include "/EgtDev/Include/EGkCDSimpleSurfFrMove.h"

 class CurveLine ;
 class SurfFlatRegion ;

 //----------------------------------------------------------------------------
-class MySimpleCDSurfFrMove
+class MyCDSimpleSurfFrMove
 {
   public :
-      MySimpleCDSurfFrMove( const ISurfFlatRegion& SfrM, const ISurfFlatRegion& SfrF) ;
+      MyCDSimpleSurfFrMove( const ISurfFlatRegion& SfrM, const ISurfFlatRegion& SfrF) ;

   public :
      bool Translate( const Vector3d& vtDir, double& dLen) ;
@@ -258,6 +258,8 @@ copy $(TargetPath) \EgtProg\Dll64</Command>
    <ClCompile Include="Attribs.cpp" />
    <ClCompile Include="BBox3d.cpp" />
    <ClCompile Include="BiArcs.cpp" />
+    <ClCompile Include="CDBoxPolyhedron.cpp" />
+    <ClCompile Include="CDBoxTria.cpp" />
    <ClCompile Include="ChainCurves.cpp" />
    <ClCompile Include="CircleCenTgCurve.cpp" />
    <ClCompile Include="Color.cpp" />
@@ -327,7 +329,7 @@ copy $(TargetPath) \EgtProg\Dll64</Command>
    <ClCompile Include="SfrCreate.cpp" />
    <ClCompile Include="SurfFlatRegion.cpp" />
    <ClCompile Include="SurfFlatRegionBooleans.cpp" />
-    <ClCompile Include="Simple CDSurfFrMove.cpp" />
+    <ClCompile Include="CDSimpleSurfFrMove.cpp" />
    <ClCompile Include="SurfFlatRegionOffset.cpp" />
    <ClCompile Include="TextureData.cpp" />
    <ClCompile Include="UserObjDefault.cpp" />
@@ -363,6 +365,9 @@ copy $(TargetPath) \EgtProg\Dll64</Command>
    <ClInclude Include="..\Include\EgkArcSpecial.h" />
    <ClInclude Include="..\Include\EGkBBox3d.h" />
    <ClInclude Include="..\Include\EGkBiArcs.h" />
+    <ClInclude Include="..\Include\EGkCDBoxPolyhedron.h" />
+    <ClInclude Include="..\Include\EGkCDBoxTria.h" />
+    <ClInclude Include="..\Include\EGkCDSimpleSurfFrMove.h" />
    <ClInclude Include="..\Include\EGkChainCurves.h" />
    <ClInclude Include="..\Include\EGkCircleCenTgCurve.h" />
    <ClInclude Include="..\Include\EGkColor.h" />
@@ -408,7 +413,6 @@ copy $(TargetPath) \EgtProg\Dll64</Command>
    <ClInclude Include="..\Include\EGkPointGrid3d.h" />
    <ClInclude Include="..\Include\EGkPolyArc.h" />
    <ClInclude Include="..\Include\EGkPolyLine.h" />
-    <ClInclude Include="..\Include\EGkSimpleCDSurfFrMove.h" />
    <ClInclude Include="..\Include\EGkSelection.h" />
    <ClInclude Include="..\Include\EGkSfrCreate.h" />
    <ClInclude Include="..\Include\EGkStmFromCurves.h" />
@@ -327,12 +327,18 @@
    <ClCompile Include="RemoveCurveOverlaps.cpp">
      <Filter>File di origine\GeoInters</Filter>
    </ClCompile>
-    <ClCompile Include="Simple CDSurfFrMove.cpp">
-      <Filter>File di origine\GeoCollision</Filter>
-    </ClCompile>
    <ClCompile Include="OffsetCurveOnX.cpp">
      <Filter>File di origine\GeoOffset</Filter>
    </ClCompile>
+    <ClCompile Include="CDBoxPolyhedron.cpp">
+      <Filter>File di origine\GeoCollision</Filter>
+    </ClCompile>
+    <ClCompile Include="CDSimpleSurfFrMove.cpp">
+      <Filter>File di origine\GeoCollision</Filter>
+    </ClCompile>
+    <ClCompile Include="CDBoxTria.cpp">
+      <Filter>File di origine\GeoCollision</Filter>
+    </ClCompile>
  </ItemGroup>
  <ItemGroup>
    <ClInclude Include="stdafx.h">
@@ -737,10 +743,16 @@
    <ClInclude Include="RemoveCurveOverlaps.h">
      <Filter>File di intestazione</Filter>
    </ClInclude>
-    <ClInclude Include="..\Include\EGkSimpleCDSurfFrMove.h">
+    <ClInclude Include="..\Include\EGkOffsetCurveOnX.h">
      <Filter>File di intestazione\Include</Filter>
    </ClInclude>
-    <ClInclude Include="..\Include\EGkOffsetCurveOnX.h">
+    <ClInclude Include="..\Include\EGkCDSimpleSurfFrMove.h">
+      <Filter>File di intestazione\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\Include\EGkCDBoxPolyhedron.h">
+      <Filter>File di intestazione\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\Include\EGkCDBoxTria.h">
      <Filter>File di intestazione\Include</Filter>
    </ClInclude>
  </ItemGroup>
@@ -106,7 +106,7 @@ class SurfFlatRegion : public ISurfFlatRegion, public IGeoObjRW
                       LOG_ERROR( GetEGkLogger(), "SurfFlatRegion : copy error")
                    return *this ; }

-   friend class MySimpleCDSurfFrMove ;
+   friend class MyCDSimpleSurfFrMove ;

   private :
      enum Status { ERR = 0, OK = 1, TO_VERIFY = 2} ;