Jann Poppinga

#include "OPCODE-1.2/Opcode.h"
//#include "Opcode.h"
#include <iostream>
#include <queue>

using namespace std;
using namespace Opcode;

int main() {


    /////////////////////// Model //////////////////////
    Point vertices[6];
    vertices[0] = Point(1,3,0);
    vertices[1] = Point(1,-1,1);
    vertices[2] = Point(1,-1,-3);
    vertices[3] = Point(0,-1,1);
    vertices[4] = Point(0,-1,-3);
    vertices[5] = Point(-1,-1,1);
    IndexedTriangle triangles[3];
    triangles[0] = IndexedTriangle(0,2,1);
    triangles[1] = IndexedTriangle(0,4,3);
    triangles[2] = IndexedTriangle(1,3,5);

    Opcode::OPCODECREATE creator;

    creator.NbTris               = 3;
    //creator.NbTris               = aIndices.size()/3;
    creator.NbVerts              = 6;
    //creator.Tris                 = aIndices.getArray();
    creator.Tris                 = (udword*) triangles;
    creator.Verts                = vertices;
    // Tree building settings
    creator.Rules                = Opcode::SPLIT_COMPLETE | Opcode::SPLIT_SPLATTERPOINTS | Opcode::SPLIT_GEOMCENTER;
    creator.NoLeaf               = false;
    creator.Quantized            = false;
    // Debug
    creator.KeepOriginal         = true;

    for( int i=0;i<9;++i ) {
    if( i>0 && i%3==0 )
        cout << endl;
    cout << "tri " << i << ": " << creator.Tris[i] << "  ";
    }
    cout << endl;



    // 2) Build the model
    Opcode::OPCODE_Model aModel;
    bool Status = aModel.Build(creator);
    if( !Status ) {
    cerr << "building model failed" << endl;
    exit(1);
    } else {
    cout << "created OPCODE model" << endl;//  with %i nodes, using %i bytes from %i triangles", aModel.GetNbNodes(), aModel.GetUsedBytes(), aTriangles.size() );
    }


    const AABBTree* tree=aModel.GetSourceTree();
    cout << "tree depth: " << tree->ComputeDepth() << ", is complete " << boolalpha << tree->IsComplete() << ", number of nodes: " << tree->GetNbNodes()
     << ", is leaf: " << boolalpha << tree->IsLeaf() << endl;
    for( int i=0; i<tree->GetNbNodes();++i ) {
    cout << "  index: " << tree->GetIndices()[i] << endl;
    }


    queue<const AABBTreeNode*> trees;
    const AABBTreeNode* temp;
    trees.push(aModel.GetSourceTree());
    while(!trees.empty()) {
    cout << "queue size: " << trees.size() << ", node: " << trees.front() << endl;
    cout << "  size: " << trees.front()->GetNodeSize() << endl;

    for( int i=0;i<trees.front()->GetNbPrimitives();++i ) {
        int index=trees.front()->GetPrimitives()[i];
        cout << " " << i << ", " << index << ": " << tree->GetIndices()[index] << endl;
    }
    const AABB* aabb = trees.front()->GetAABB();
    Point min,max;
    aabb->GetMin(min);
    aabb->GetMax(max);
    cout << " min: " << min.x << " " << min.y << " " << min.z << ", max: " << max.x << " " << max.y << " " << max.z << endl;

    if( (temp=trees.front()->GetPos()) != 0 ) {
        trees.push(temp);
    }
    if( (temp=trees.front()->GetNeg()) != 0 ) {
        trees.push(temp);
    }
    trees.pop();
    }



////////////////////// OBB setup /////////////////////////////////
    Point center(0,0,0);
    Point extents(2,2,2);
    IceMaths::Matrix3x3 transform( 1,0,0, 0,1,0, 0,0,1 );
    OBB obb( center, extents, transform );

    Point corners[8];
    obb.ComputePoints(corners);

    cout << "OBB corners: " << endl;
    for( int i=0; i<8; ++i ) {
    cout << " " << i << ": " << corners[i].x << " " << corners[i].y << " " << corners[i].z << endl;
    }
    for( int i=0;i<(sizeof(vertices)/sizeof(Point));++i) {
    cout << "  point " << vertices[i].x << " " << vertices[i].y << " " << vertices[i].z;
    if( obb.ContainsPoint(vertices[i]) ) {
        cout << " contained" << endl;
    } else {
        cout << " not contained" << endl;
    }
    }


///////////////////// Collider ///////////////////////////////////
    Opcode::OBBCollider obbCollider;
    obbCollider.SetFirstContact(true);
    obbCollider.SetTemporalCoherence(false);
    obbCollider.SetFullBoxBoxTest(true);
    //3) Setup object callback or pointers:
    obbCollider.SetPointers(triangles, vertices);

    const char* problem = obbCollider.ValidateSettings();
    if( problem==0 ) {
    std::cerr << "settings are fine" << std::endl;
    } else {
    std::cerr << "setting problem: " << problem << std::endl;
    }

    //4) Perform a collision query
    static Opcode::OBBCache cache;
    IceMaths::Matrix4x4 id( 1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1 );
    bool IsOk = obbCollider.Collide(cache, obb, &aModel);

    if( !IsOk ) {
    std::cerr << "collision detection could not be performed" << std::endl;
    } else {
    cout << "touched primitives: " << obbCollider.GetNbTouchedPrimitives() << ", volume-bv tests: " << obbCollider.GetNbVolumeBVTests() << ", volume-prim tests: " << obbCollider.GetNbVolumePrimTests() << std::endl;
    }

    if( obbCollider.GetContactStatus() ) {
    cout << endl << ":)" << "Collision!" << endl << ":)" << endl;
    } else {
    cout << "No collision!" << endl;
    }

    if( obbCollider.ContactFound() ) {
    cout << "contact found" << endl;
    } else {
    cout << "contact not found" << endl;
    }



}

#include "OPCODE-1.2/Opcode.h"
#include <iostream>
#include <queue>

using namespace std;
using namespace Opcode;

int main() {


    /////////////////////// Model //////////////////////
    Point vertices[6];
    vertices[0] = Point(1,3,0);
    vertices[1] = Point(1,-1,1);
    vertices[2] = Point(1,-1,-3);
    vertices[3] = Point(0,-1,1);
    vertices[4] = Point(0,-1,-3);
    vertices[5] = Point(-1,-1,1);
    IndexedTriangle triangles[3];
    triangles[0] = IndexedTriangle(0,2,1);
    triangles[1] = IndexedTriangle(0,4,3);
    triangles[2] = IndexedTriangle(1,3,5);

    Opcode::OPCODECREATE creator;

    creator.NbTris               = 3;
    //creator.NbTris               = aIndices.size()/3;
    creator.NbVerts              = 6;
    //creator.Tris                 = aIndices.getArray();
    creator.Tris                 = (udword*) triangles;
    creator.Verts                = vertices;
    // Tree building settings
    creator.Rules                = Opcode::SPLIT_COMPLETE | Opcode::SPLIT_SPLATTERPOINTS | Opcode::SPLIT_GEOMCENTER;
    creator.NoLeaf               = false;
    creator.Quantized            = false;
    // Debug
    creator.KeepOriginal         = true;

    for( int i=0;i<9;++i ) {
    if( i>0 && i%3==0 )
        cout << endl;
    cout << "tri " << i << ": " << creator.Tris[i] << "  ";
    }
    cout << endl;



    // 2) Build the model
    Opcode::OPCODE_Model aModel;
    bool Status = aModel.Build(creator);
    if( !Status ) {
    cerr << "building model failed" << endl;
    exit(1);
    } else {
    cout << "created OPCODE model" << endl;//  with %i nodes, using %i bytes from %i triangles", aModel.GetNbNodes(), aModel.GetUsedBytes(), aTriangles.size() );
    }


    const AABBTree* tree=aModel.GetSourceTree();
    cout << "tree depth: " << tree->ComputeDepth() << ", is complete " << boolalpha << tree->IsComplete() << ", number of nodes: " << tree->GetNbNodes()
     << ", is leaf: " << boolalpha << tree->IsLeaf() << endl;
    for( int i=0; i<tree->GetNbNodes();++i ) {
    cout << "  index: " << tree->GetIndices()[i] << endl;
    }


    queue<const AABBTreeNode*> trees;
    const AABBTreeNode* temp;
    trees.push(aModel.GetSourceTree());
    while(!trees.empty()) {
    cout << "queue size: " << trees.size() << ", node: " << trees.front() << endl;
    cout << "  size: " << trees.front()->GetNodeSize() << endl;

    for( int i=0;i<trees.front()->GetNbPrimitives();++i ) {
        int index=trees.front()->GetPrimitives()[i];
        cout << " " << i << ", " << index << ": " << tree->GetIndices()[index] << endl;
    }
    const AABB* aabb = trees.front()->GetAABB();
    Point min,max;
    aabb->GetMin(min);
    aabb->GetMax(max);
    cout << " min: " << min.x << " " << min.y << " " << min.z << ", max: " << max.x << " " << max.y << " " << max.z << endl;

    if( (temp=trees.front()->GetPos()) != 0 ) {
        trees.push(temp);
    }
    if( (temp=trees.front()->GetNeg()) != 0 ) {
        trees.push(temp);
    }
    trees.pop();
    }



////////////////////// AABB setup /////////////////////////////////
    Point center(0,0,0);
    Point extents(2,2,2);
    IceMaths::Matrix3x3 transform( 1,0,0, 0,1,0, 0,0,1 );
    AABB aabb;
    aabb.SetCenterExtents(center, extents);

    Point min, max;
    aabb.GetMin(min);
    aabb.GetMax(max);
    cout << "aabb min: " << min.x << " " << min.y << " " << min.z << ", max: " << max.x << " " << max.y << " " << max.z << endl;



///////////////////// Collider ///////////////////////////////////
    Opcode::AABBCollider aabbCollider;
    aabbCollider.SetFirstContact(true);
    aabbCollider.SetTemporalCoherence(false);
    //3) Setup object callback or pointers:
    aabbCollider.SetPointers(triangles, vertices);

    const char* problem = aabbCollider.ValidateSettings();
    if( problem==0 ) {
    std::cerr << "settings are fine" << std::endl;
    } else {
    std::cerr << "setting problem: " << problem << std::endl;
    }

    //4) Perform a collision query
    static Opcode::AABBCache cache;
    IceMaths::Matrix4x4 id( 1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1 );
    bool IsOk = aabbCollider.Collide(cache, aabb, &aModel);

    if( !IsOk ) {
    std::cerr << "collision detection could not be performed" << std::endl;
    } else {
    cout << "touched primitives: " << aabbCollider.GetNbTouchedPrimitives() << ", volume-bv tests: " << aabbCollider.GetNbVolumeBVTests() << ", volume-prim tests: " << aabbCollider.GetNbVolumePrimTests() << std::endl;
    }

    if( aabbCollider.GetContactStatus() ) {
    cout << endl << ":)" << "Collision!" << endl << ":)" << endl;
    } else {
    cout << "No collision!" << endl;
    }

    if( aabbCollider.ContactFound() ) {
    cout << "contact found" << endl;
    } else {
    cout << "contact not found" << endl;
    }



}