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Diffstat (limited to 'libs/ode-0.16.1/OPCODE/OPC_OBBCollider.h')
| -rw-r--r-- | libs/ode-0.16.1/OPCODE/OPC_OBBCollider.h | 142 |
1 files changed, 142 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/OPCODE/OPC_OBBCollider.h b/libs/ode-0.16.1/OPCODE/OPC_OBBCollider.h new file mode 100644 index 0000000..a050118 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_OBBCollider.h @@ -0,0 +1,142 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for an OBB collider. + * \file OPC_OBBCollider.h + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_OBBCOLLIDER_H__ +#define __OPC_OBBCOLLIDER_H__ + + struct OPCODE_API OBBCache : VolumeCache + { + OBBCache() : FatCoeff(1.1f) + { + FatBox.mCenter.Zero(); + FatBox.mExtents.Zero(); + FatBox.mRot.Identity(); + } + + // Cached faces signature + OBB FatBox; //!< Box used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< extents multiplier used to create a fat box + }; + + class OPCODE_API OBBCollider : public VolumeCollider + { + public: + // Constructor / Destructor + OBBCollider(); + virtual ~OBBCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a box cache + * \param box [in] collision OBB in local space + * \param model [in] Opcode model to collide with + * \param worldb [in] OBB's 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(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: select between full box-box tests or "SAT-lite" tests (where Class III axes are discarded) + * \param flag [in] true for full tests, false for coarse tests + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; } + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Precomputed data + Matrix3x3 mAR; //!< Absolute rotation matrix + Matrix3x3 mRModelToBox; //!< Rotation from model space to obb space + Matrix3x3 mRBoxToModel; //!< Rotation from obb space to model space + Point mTModelToBox; //!< Translation from model space to obb space + Point mTBoxToModel; //!< Translation from obb space to model space + + Point mBoxExtents; + Point mB0; //!< - mTModelToBox + mBoxExtents + Point mB1; //!< - mTModelToBox - mBoxExtents + + float mBBx1; + float mBBy1; + float mBBz1; + + float mBB_1; + float mBB_2; + float mBB_3; + float mBB_4; + float mBB_5; + float mBB_6; + float mBB_7; + float mBB_8; + float mBB_9; + + // Leaf description + Point mLeafVerts[3]; //!< Triangle vertices + // Settings + bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false) + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* 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 OBBContainsBox(const Point& bc, const Point& be); + inline_ BOOL BoxBoxOverlap(const Point& extents, const Point& center); + inline_ BOOL TriBoxOverlap(); + // Init methods + BOOL InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridOBBCollider : public OBBCollider + { + public: + // Constructor / Destructor + HybridOBBCollider(); + virtual ~HybridOBBCollider(); + + bool Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_OBBCOLLIDER_H__ |