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annotate col.cc @ 152:9fc2d52b28c5 default

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author Shinji KONO <kono@ie.u-ryukyu.ac.jp>
date Sat, 30 Jul 2011 14:44:30 +0900
parents d1ddd095ab03
children
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1 #include <stdio.h>
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2 #include"libps2.h"
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3 #include"ps2util.h"
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4 #include"col.h"
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5 #include"mytype.h"
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6 #include <stdbool.h>
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7 #include <string.h>
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8
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9 #include "gSprite.h"
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10
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11 extern Viewer *droot;
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12
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13 /**
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14 * v0, v1が描く三角形と点pの内外判定(approx detection)
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15 * 点pはv0, v1が描く面のどこかに位置している。
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16 * pが面の三角形の外側にあるときTRUEを戻し、
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17 * そうでなければFALSEを戻す。境界は含む。
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18 */
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19
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20 bool
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21 col_detect_approx(FVECTOR p, FVECTOR v0, FVECTOR v1)
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22 {
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23 float v_r1, v_r2, r1_r2, r1_r1, r2_r2;
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24 float a, b, r;
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26 v_r1 = ps2_vu0_inner_product( p, v0 );
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27 v_r2 = ps2_vu0_inner_product( p, v1 );
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28 r1_r2 = ps2_vu0_inner_product( v0, v1 );
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29 r1_r1 = ps2_vu0_inner_product( v0, v0 );
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30 r2_r2 = ps2_vu0_inner_product( v1, v1 );
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32 a = (v_r1 * r2_r2 - v_r2 * r1_r2);
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33 b = (v_r2 * r1_r1 - v_r1 * r1_r2);
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34 r = (r1_r1 * r2_r2 - r1_r2 * r1_r2);
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35
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36 return (a>=0 && b>=0 && a+b-r<=0) ? true : false;
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37 }
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41 /**
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42 * 垂心oの算出. 点pからv0, v1が描く面へ垂線を引いたときの交点oを
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43 * 垂心(orthocenter)と呼ぶ。
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44 */
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45 static void
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46 col_orthocenter(FVECTOR o, FVECTOR p, FVECTOR p0, FVECTOR normal)
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47 {
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48 FVECTOR o0, d;
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50 ps2_vu0_sub_vector(o0, p, p0);
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51 o0[W_AXIS] = 0;
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52 ps2_vu0_scale_vector(
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53 d, normal, ps2_vu0_inner_product(o0, normal));
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55 o[X_AXIS] = p[X_AXIS] - d[X_AXIS];
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56 o[Y_AXIS] = p[Y_AXIS] - d[Y_AXIS];
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57 o[Z_AXIS] = p[Z_AXIS] - d[Z_AXIS];
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58 o[W_AXIS] = 1;
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59 }
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61 /**
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62 * 点pと面との衝突(点pとdetection face面との垂心oがdetection face領域の
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63 * 中にあるかを)判定衝突時(oがdetection face領域の外)はFALSEを戻し、そう
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64 * でなければTRUE、 垂心(orthocenter)、垂心のある面の法線(normal
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65 * vector)を戻す.
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66 */
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67 bool
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68 col_detect(ColFaceHd* hd, FVECTOR pose, FVECTOR p)
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69 {
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70 FVECTOR o, o0;
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71 int i;
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72 ColFacePtr col_face=hd->colface;
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73
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74 for (i=0; i<hd->facenum; i++) {
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76 // * 垂心oを求める
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77 col_orthocenter(o, p, col_face[i].p0, col_face[i].normal);
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78
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79 // * detection face上のある点p0から垂心oへのベクトルo0を求める
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80 ps2_vu0_sub_vector(o0, o, col_face[i].p0);
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81
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82 // * ベクトルv0, v1の描く三角形とo0とで内外判定(range approx detection)を行う
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83 if (col_detect_approx(o0, col_face[i].v0, col_face[i].v1)==true) {
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84 goto NOCOLLISION;
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85 }
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86 }
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87 return false;
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89 NOCOLLISION: // "壁に"ぶつかっていない = course上にいる
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90 printf("---on hd->facenum = %d/%d ----- ",i, hd->facenum);
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91 printf("P x,y,z = %f,%f,%f ",col_face[i].p0[0],col_face[i].p0[1],col_face[i].p0[2]);
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92 printf("N x,y,z = %f,%f,%f\n",col_face[i].normal[0],col_face[i].normal[1],col_face[i].normal[2]);
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93
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94 ps2_vu0_copy_vector(p, o);
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95 ps2_vu0_copy_vector(pose, col_face[i].normal);
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96 return true;
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98 }
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101 /*
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102 * detection face作成
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103 * Collision XML から Polygon を読み込んで、
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104 * Normal Vector(Polygon に直交した Vector) を生成する。
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105 * face の中に、既に Normal Vector が計算されているので、
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106 * それを利用してもよい。
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107 */
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108
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109 void col_init(ColFaceHd* hd, char *colImg)
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110 {
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111 static int col_num = 0;
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112
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113 col_num ++;
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114
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115 // xmlから読み込み
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116 call_createFromXMLfile(colImg);
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117
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118 char str[100];
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119
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120 sprintf(str,"hoge%d",col_num);
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121
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122 printf("%s\n",str);
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123 printf("%d\n",col_num);
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125 // SceneGraphPtr face = droot->createSceneGraph("hoge");
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126 SceneGraphPtr face = droot->createSceneGraph(str);
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127
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128 int i;
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129 FVECTOR p1, p2;
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130 ColFacePtr colface;
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132 hd->facenum = face->size/3;
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133 malloc_align16(&hd->free_addr, &colface, sizeof(ColFace)*hd->facenum);
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136 for (i=0; i < hd->facenum; i++) {
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137 memcpy(colface[i].p0, &face->pp->tri[i].ver1, sizeof(FVECTOR));
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138 memcpy(p1, &face->pp->tri[i].ver3, sizeof(FVECTOR));
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139 memcpy(p2, &face->pp->tri[i].ver2, sizeof(FVECTOR));
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141 ps2_vu0_sub_vector(colface[i].v0, p1, colface[i].p0);
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142 ps2_vu0_sub_vector(colface[i].v1, p2, colface[i].p0);
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143
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144 ps2_vu0_outer_product(colface[i].normal, colface[i].v0, colface[i].v1);
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145 ps2_vu0_normalize(colface[i].normal, colface[i].normal);
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146
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147 if (colface[i].normal[1] > 0) {
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148 colface[i].normal[0] = -colface[i].normal[0];
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149 colface[i].normal[1] = -colface[i].normal[1];
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150 colface[i].normal[2] = -colface[i].normal[2];
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151 }
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152 }
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153
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154 hd->colface = colface;
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155 }