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EgtGeomKernel 2.5e4 :

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- modifiche per verifica collisione con TriMesh chiuse
- aggiunta gestione Capsule.
This commit is contained in:
DarioS
2023-05-22 14:34:10 +02:00
parent b78212c3a1
commit 0a63a4c9a2
10 changed files with 217 additions and 130 deletions
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CDeBoxTria.cpp
+5 -63
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@@ -182,78 +182,21 @@ CDeBoxTria( const Frame3d& frBox, const Vector3d& vtDiag, double dSafeDist, cons
return CDeSimpleBoxTria( Frame3d(), vtDiag, trTriaL) ;
// Verifica preliminare con box esteso
Frame3d frEst( Point3d( -dSafeDist, -dSafeDist, -dSafeDist)) ;
if ( ! CDeSimpleBoxTria( frEst, vtDiag + 2 * Vector3d( dSafeDist, dSafeDist, dSafeDist), trTriaL))
Frame3d frTmp( Point3d( -dSafeDist, -dSafeDist, -dSafeDist)) ;
if ( ! CDeSimpleBoxTria( frTmp, vtDiag + 2 * Vector3d( dSafeDist, dSafeDist, dSafeDist), trTriaL))
return false ;
// Tre box aumentati con distanza di sicurezza in un sola dimensione
Frame3d frTmp = frBox ; frTmp.Translate( - dSafeDist * frBox.VersX()) ;
frTmp.ChangeOrig( Point3d( -dSafeDist, 0, 0)) ;
if ( CDeSimpleBoxTria( frTmp, vtDiag + 2 * dSafeDist * X_AX, trTriaL))
return true ;
frTmp = frBox ; frTmp.Translate( - dSafeDist * frBox.VersY()) ;
frTmp.ChangeOrig( Point3d( 0, -dSafeDist, 0)) ;
if ( CDeSimpleBoxTria( frTmp, vtDiag + 2 * dSafeDist * Y_AX, trTriaL))
return true ;
frTmp = frBox ; frTmp.Translate( - dSafeDist * frBox.VersZ()) ;
frTmp.ChangeOrig( Point3d( 0, 0, -dSafeDist)) ;
if ( CDeSimpleBoxTria( frTmp, vtDiag + 2 * dSafeDist * Z_AX, trTriaL))
return true ;
#if 1
// Sfere centrate negli otto vertici
if ( CDeSimpleSpheTria( Point3d( 0, 0, 0), dSafeDist, trTriaL))
return true ;
if ( CDeSimpleSpheTria( Point3d( vtDiag.x, 0, 0), dSafeDist, trTriaL))
return true ;
if ( CDeSimpleSpheTria( Point3d( vtDiag.x, vtDiag.y, 0), dSafeDist, trTriaL))
return true ;
if ( CDeSimpleSpheTria( Point3d( 0, vtDiag.y, 0), dSafeDist, trTriaL))
return true ;
if ( CDeSimpleSpheTria( Point3d( 0, 0, vtDiag.z), dSafeDist, trTriaL))
return true ;
if ( CDeSimpleSpheTria( Point3d( vtDiag.x, 0, vtDiag.z), dSafeDist, trTriaL))
return true ;
if ( CDeSimpleSpheTria( Point3d( vtDiag.x, vtDiag.y, vtDiag.z), dSafeDist, trTriaL))
return true ;
if ( CDeSimpleSpheTria( Point3d( 0, vtDiag.y, vtDiag.z), dSafeDist, trTriaL))
return true ;
// Cilindri centrati sui dodici spigoli
frTmp.Set( Point3d( 0, 0, 0), X_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.x, trTriaL))
return true ;
frTmp.Set( Point3d( 0, vtDiag.y, 0), X_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.x, trTriaL))
return true ;
frTmp.Set( Point3d( 0, 0, 0), Y_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.y, trTriaL))
return true ;
frTmp.Set( Point3d( vtDiag.x, 0, 0), Y_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.y, trTriaL))
return true ;
frTmp.Set( Point3d( 0, 0, vtDiag.z), X_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.x, trTriaL))
return true ;
frTmp.Set( Point3d( 0, vtDiag.y, vtDiag.z), X_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.x, trTriaL))
return true ;
frTmp.Set( Point3d( 0, 0, vtDiag.z), Y_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.y, trTriaL))
return true ;
frTmp.Set( Point3d( vtDiag.x, 0, vtDiag.z), Y_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.y, trTriaL))
return true ;
frTmp.Set( Point3d( 0., 0., 0.), Z_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.z, trTriaL))
return true ;
frTmp.Set( Point3d( vtDiag.x, 0., 0.), Z_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.z, trTriaL))
return true ;
frTmp.Set( Point3d( vtDiag.x, vtDiag.y, 0.), Z_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.z, trTriaL))
return true ;
frTmp.Set( Point3d( 0., vtDiag.y, 0.), Z_AX) ;
if ( CDeSimpleCylTria( frTmp, dSafeDist, vtDiag.z, trTriaL))
return true ;
#else
// Capsule centrati sui dodici spigoli
if ( CDeSimpleCapsTria( Point3d( 0, 0, 0), Point3d( vtDiag.x, 0, 0), dSafeDist, trTriaL))
return true ;
@@ -279,7 +222,6 @@ CDeBoxTria( const Frame3d& frBox, const Vector3d& vtDiag, double dSafeDist, cons
return true ;
if ( CDeSimpleCapsTria( Point3d( 0, vtDiag.y, 0), Point3d( 0, vtDiag.y, vtDiag.z), dSafeDist, trTriaL))
return true ;
#endif
return false ;
}