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Diffstat (limited to 'libs/ode-0.16.1/OPCODE/OPC_LSSCollider.h')
| -rw-r--r-- | libs/ode-0.16.1/OPCODE/OPC_LSSCollider.h | 99 |
1 files changed, 99 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/OPCODE/OPC_LSSCollider.h b/libs/ode-0.16.1/OPCODE/OPC_LSSCollider.h new file mode 100644 index 0000000..b4d0893 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_LSSCollider.h @@ -0,0 +1,99 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for an LSS collider. + * \file OPC_LSSCollider.h + * \author Pierre Terdiman + * \date December, 28, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_LSSCOLLIDER_H__ +#define __OPC_LSSCOLLIDER_H__ + + struct OPCODE_API LSSCache : VolumeCache + { + LSSCache() + { + Previous.mP0 = Point(0.0f, 0.0f, 0.0f); + Previous.mP1 = Point(0.0f, 0.0f, 0.0f); + Previous.mRadius = 0.0f; + FatCoeff = 1.1f; + } + + // Cached faces signature + LSS Previous; //!< LSS used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< mRadius2 multiplier used to create a fat LSS + }; + + class OPCODE_API LSSCollider : public VolumeCollider + { + public: + // Constructor / Destructor + LSSCollider(); + virtual ~LSSCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] an lss cache + * \param lss [in] collision lss in local space + * \param model [in] Opcode model to collide with + * \param worldl [in] lss world matrix, or null + * \param worldm [in] model's world matrix, or null + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); + // + bool Collide(LSSCache& cache, const LSS& lss, const AABBTree* tree); + protected: + // LSS in model space + Segment mSeg; //!< Segment + float mRadius2; //!< LSS radius squared + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* node); + void _Collide(const AABBTreeNode* node); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); + // Overlap tests + inline_ BOOL LSSContainsBox(const Point& bc, const Point& be); + inline_ BOOL LSSAABBOverlap(const Point& center, const Point& extents); + inline_ BOOL LSSTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); + // Init methods + BOOL InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridLSSCollider : public LSSCollider + { + public: + // Constructor / Destructor + HybridLSSCollider(); + virtual ~HybridLSSCollider(); + + bool Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_LSSCOLLIDER_H__ |