From 3ca2db72e9c51354915d9a57170dee47d7291c1f Mon Sep 17 00:00:00 2001
From: Dario Sassi <dario.sassi@egalware.com>
Date: Fri, 16 Feb 2024 08:47:33 +0100
Subject: [PATCH] EgtMachKernel 2.6b3 : - adattamenti per modifiche a funzioni
 di Collision Detection.

---
 EgtMachKernel.rc | Bin 11774 -> 11774 bytes
 Operation.cpp    |   4 ++--
 Simulator.cpp    |  18 +++++++++---------
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/EgtMachKernel.rc b/EgtMachKernel.rc
index e6d808f32b4e5a9ae0da2cba593609e7503fab83..a9e602d31380dd8712a71f6fa8c0d3d122f0f311 100644
GIT binary patch
delta 97
zcmewt{V#gMFE&Qw&A-`fnHh~IKa|wnoW?bQ1uSxrY4Qod0+^@}R1`^_2jk{d(jGv4
NK<#LXK~l;gTmUD-Bai?9

delta 97
zcmewt{V#gMFE&QQ&A-`fnHdcyKa|wnoW?bQ1uSxrY4Qod0+^@}R1`^_2jk{d(jGv4
NK<#LXK~l;gTmU3rBY*$^

diff --git a/Operation.cpp b/Operation.cpp
index 8454740..df53403 100644
--- a/Operation.cpp
+++ b/Operation.cpp
@@ -3891,7 +3891,7 @@ Operation::TestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEn
                     // traslo il riferimento per avere il cilindro centrato sull'asse Y in positivo
                      frHsol.Translate( frHsol.VersZ() * ptMin.z) ;
                     // verifica di collisione tra cilindro e solido
-                     if ( pStm == nullptr  ||  CDeCylClosedSurfTm( frHsol, max( vtDiag.x, vtDiag.y) / 2, vtDiag.z, dSafeDist, *pStm)) {
+                     if ( pStm == nullptr  ||  CDeCylClosedSurfTm( frHsol, max( vtDiag.x, vtDiag.y) / 2, vtDiag.z, *pStm, dSafeDist)) {
                         bCollide = true ;
                         break ;
                      }
@@ -3901,7 +3901,7 @@ Operation::TestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEn
                     // traslo il riferimento per avere il box nel primo ottante
                      frHsol.Translate( frHsol.VersX() * ptMin.x + frHsol.VersY() * ptMin.y + frHsol.VersZ() * ptMin.z) ;
                     // verifica di collisione tra box e solido
-                     if ( pStm == nullptr  ||  CDeBoxClosedSurfTm( frHsol, vtDiag, dSafeDist, *pStm)) {
+                     if ( pStm == nullptr  ||  CDeBoxClosedSurfTm( frHsol, vtDiag, *pStm, dSafeDist)) {
                         bCollide = true ;
                         break ;
                      }
diff --git a/Simulator.cpp b/Simulator.cpp
index 0e5d872..8800c31 100644
--- a/Simulator.cpp
+++ b/Simulator.cpp
@@ -1425,27 +1425,27 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
             if ( m_CollObj[j].nType == MCH_SIM_COB_BOX) {
                Vector3d vtDiag( m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3) ;
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidBox( frObj, vtDiag, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeBox( frObj, vtDiag, m_dSafeDist) ;
                else
-                  bOk = ! CDeBoxClosedSurfTm( frObj, vtDiag, m_dSafeDist, *pSTM) ;
+                  bOk = ! CDeBoxClosedSurfTm( frObj, vtDiag, *pSTM, m_dSafeDist) ;
             }
             else if ( m_CollObj[j].nType == MCH_SIM_COB_CYL) {
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidCylinder( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeCylinder( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist) ;
                else
-                  bOk = ! CDeCylClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist, *pSTM) ;
+                  bOk = ! CDeCylClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, *pSTM, m_dSafeDist) ;
             }
             else if ( m_CollObj[j].nType == MCH_SIM_COB_SPHE) {
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
                else
-                  bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist, *pSTM) ;
+                  bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, *pSTM, m_dSafeDist) ;
             }
             else if ( m_CollObj[j].nType == MCH_SIM_COB_CONE) {
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidConeFrustum( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeConeFrustum( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist) ;
                else
-                  bOk = ! CDeConeFrustumClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist, *pSTM) ;
+                  bOk = ! CDeConeFrustumClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, *pSTM, m_dSafeDist) ;
             }
          }
         // altrimenti poliedro
@@ -1454,7 +1454,7 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
             const ISurfTriMesh* pStmLoc = GetSurfTriMesh( SurfLoc) ;
             if ( pStmLoc != nullptr) {
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidSurfTm( *pStmLoc, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeSurfTm( *pStmLoc, m_dSafeDist) ;
                else
                   bOk = ! CDeClosedSurfTmClosedSurfTm( *pStmLoc, *pSTM, m_dSafeDist) ;
             }