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authordan miller2007-10-19 05:24:38 +0000
committerdan miller2007-10-19 05:24:38 +0000
commitf205de7847da7ae1c10212d82e7042d0100b4ce0 (patch)
tree9acc9608a6880502aaeda43af52c33e278e95b9c /libraries/ode-0.9/OPCODE/OPC_PlanesCollider.h
parenttrying to fix my screwup part deux (diff)
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from the start... checking in ode-0.9
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1///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2/*
3 * OPCODE - Optimized Collision Detection
4 * Copyright (C) 2001 Pierre Terdiman
5 * Homepage: http://www.codercorner.com/Opcode.htm
6 */
7///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
8
9///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
10/**
11 * Contains code for a planes collider.
12 * \file OPC_PlanesCollider.h
13 * \author Pierre Terdiman
14 * \date January, 1st, 2002
15 */
16///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
17
18///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
19// Include Guard
20#ifndef __OPC_PLANESCOLLIDER_H__
21#define __OPC_PLANESCOLLIDER_H__
22
23 struct OPCODE_API PlanesCache : VolumeCache
24 {
25 PlanesCache()
26 {
27 }
28 };
29
30 class OPCODE_API PlanesCollider : public VolumeCollider
31 {
32 public:
33 // Constructor / Destructor
34 PlanesCollider();
35 virtual ~PlanesCollider();
36
37 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
38 /**
39 * Generic collision query for generic OPCODE models. After the call, access the results:
40 * - with GetContactStatus()
41 * - with GetNbTouchedPrimitives()
42 * - with GetTouchedPrimitives()
43 *
44 * \param cache [in/out] a planes cache
45 * \param planes [in] list of planes in world space
46 * \param nb_planes [in] number of planes
47 * \param model [in] Opcode model to collide with
48 * \param worldm [in] model's world matrix, or null
49 * \return true if success
50 * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
51 */
52 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
53 bool Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm=null);
54
55 // Mutant box-with-planes collision queries
56 inline_ bool Collide(PlanesCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null)
57 {
58 Plane PL[6];
59
60 if(worldb)
61 {
62 // Create a new OBB in world space
63 OBB WorldBox;
64 box.Rotate(*worldb, WorldBox);
65 // Compute planes from the sides of the box
66 WorldBox.ComputePlanes(PL);
67 }
68 else
69 {
70 // Compute planes from the sides of the box
71 box.ComputePlanes(PL);
72 }
73
74 // Collide with box planes
75 return Collide(cache, PL, 6, model, worldm);
76 }
77 // Settings
78
79 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
80 /**
81 * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
82 * \return null if everything is ok, else a string describing the problem
83 */
84 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
85 override(Collider) const char* ValidateSettings();
86
87 protected:
88 // Planes in model space
89 udword mNbPlanes;
90 Plane* mPlanes;
91 // Leaf description
92 VertexPointers mVP;
93 // Internal methods
94 void _Collide(const AABBCollisionNode* node, udword clip_mask);
95 void _Collide(const AABBNoLeafNode* node, udword clip_mask);
96 void _Collide(const AABBQuantizedNode* node, udword clip_mask);
97 void _Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask);
98 void _CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask);
99 void _CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask);
100 void _CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask);
101 void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask);
102 // Overlap tests
103 inline_ BOOL PlanesAABBOverlap(const Point& center, const Point& extents, udword& out_clip_mask, udword in_clip_mask);
104 inline_ BOOL PlanesTriOverlap(udword in_clip_mask);
105 // Init methods
106 BOOL InitQuery(PlanesCache& cache, const Plane* planes, udword nb_planes, const Matrix4x4* worldm=null);
107 };
108
109 class OPCODE_API HybridPlanesCollider : public PlanesCollider
110 {
111 public:
112 // Constructor / Destructor
113 HybridPlanesCollider();
114 virtual ~HybridPlanesCollider();
115
116 bool Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm=null);
117 protected:
118 Container mTouchedBoxes;
119 };
120
121#endif // __OPC_PLANESCOLLIDER_H__
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