1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
|
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/*
* OPCODE - Optimized Collision Detection
* Copyright (C) 2001 Pierre Terdiman
* Homepage: http://www.codercorner.com/Opcode.htm
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Contains code for a sphere collider.
* \file OPC_SphereCollider.h
* \author Pierre Terdiman
* \date June, 2, 2001
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Include Guard
#ifndef __OPC_SPHERECOLLIDER_H__
#define __OPC_SPHERECOLLIDER_H__
struct OPCODE_API SphereCache : VolumeCache
{
SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f) {}
~SphereCache() {}
// Cached faces signature
Point Center; //!< Sphere used when performing the query resulting in cached faces
float FatRadius2; //!< Sphere used when performing the query resulting in cached faces
// User settings
float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere
};
class OPCODE_API SphereCollider : public VolumeCollider
{
public:
// Constructor / Destructor
SphereCollider();
virtual ~SphereCollider();
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Generic collision query for generic OPCODE models. After the call, access the results:
* - with GetContactStatus()
* - with GetNbTouchedPrimitives()
* - with GetTouchedPrimitives()
*
* \param cache [in/out] a sphere cache
* \param sphere [in] collision sphere in local space
* \param model [in] Opcode model to collide with
* \param worlds [in] sphere'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(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
//
bool Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree);
protected:
// Sphere in model space
Point mCenter; //!< Sphere center
float mRadius2; //!< Sphere 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 SphereContainsBox(const Point& bc, const Point& be);
inline_ BOOL SphereAABBOverlap(const Point& center, const Point& extents);
BOOL SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2);
// Init methods
BOOL InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
};
class OPCODE_API HybridSphereCollider : public SphereCollider
{
public:
// Constructor / Destructor
HybridSphereCollider();
virtual ~HybridSphereCollider();
bool Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
protected:
Container mTouchedBoxes;
};
#endif // __OPC_SPHERECOLLIDER_H__
|
