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authordan miller2007-10-19 05:15:33 +0000
committerdan miller2007-10-19 05:15:33 +0000
commit79eca25c945a535a7a0325999034bae17da92412 (patch)
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parentadding ode source to /libraries (diff)
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resubmitting ode
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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 an OBB collider.
12 * \file OPC_OBBCollider.h
13 * \author Pierre Terdiman
14 * \date January, 1st, 2002
15 */
16///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
17
18///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
19// Include Guard
20#ifndef __OPC_OBBCOLLIDER_H__
21#define __OPC_OBBCOLLIDER_H__
22
23 struct OPCODE_API OBBCache : VolumeCache
24 {
25 OBBCache() : FatCoeff(1.1f)
26 {
27 FatBox.mCenter.Zero();
28 FatBox.mExtents.Zero();
29 FatBox.mRot.Identity();
30 }
31
32 // Cached faces signature
33 OBB FatBox; //!< Box used when performing the query resulting in cached faces
34 // User settings
35 float FatCoeff; //!< extents multiplier used to create a fat box
36 };
37
38 class OPCODE_API OBBCollider : public VolumeCollider
39 {
40 public:
41 // Constructor / Destructor
42 OBBCollider();
43 virtual ~OBBCollider();
44
45 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
46 /**
47 * Generic collision query for generic OPCODE models. After the call, access the results:
48 * - with GetContactStatus()
49 * - with GetNbTouchedPrimitives()
50 * - with GetTouchedPrimitives()
51 *
52 * \param cache [in/out] a box cache
53 * \param box [in] collision OBB in local space
54 * \param model [in] Opcode model to collide with
55 * \param worldb [in] OBB's world matrix, or null
56 * \param worldm [in] model's world matrix, or null
57 * \return true if success
58 * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
59 */
60 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
61 bool Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
62
63 // Settings
64
65 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
66 /**
67 * Settings: select between full box-box tests or "SAT-lite" tests (where Class III axes are discarded)
68 * \param flag [in] true for full tests, false for coarse tests
69 */
70 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
71 inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; }
72
73 // Settings
74
75 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
76 /**
77 * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
78 * \return null if everything is ok, else a string describing the problem
79 */
80 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
81 override(Collider) const char* ValidateSettings();
82
83 protected:
84 // Precomputed data
85 Matrix3x3 mAR; //!< Absolute rotation matrix
86 Matrix3x3 mRModelToBox; //!< Rotation from model space to obb space
87 Matrix3x3 mRBoxToModel; //!< Rotation from obb space to model space
88 Point mTModelToBox; //!< Translation from model space to obb space
89 Point mTBoxToModel; //!< Translation from obb space to model space
90
91 Point mBoxExtents;
92 Point mB0; //!< - mTModelToBox + mBoxExtents
93 Point mB1; //!< - mTModelToBox - mBoxExtents
94
95 float mBBx1;
96 float mBBy1;
97 float mBBz1;
98
99 float mBB_1;
100 float mBB_2;
101 float mBB_3;
102 float mBB_4;
103 float mBB_5;
104 float mBB_6;
105 float mBB_7;
106 float mBB_8;
107 float mBB_9;
108
109 // Leaf description
110 Point mLeafVerts[3]; //!< Triangle vertices
111 // Settings
112 bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false)
113 // Internal methods
114 void _Collide(const AABBCollisionNode* node);
115 void _Collide(const AABBNoLeafNode* node);
116 void _Collide(const AABBQuantizedNode* node);
117 void _Collide(const AABBQuantizedNoLeafNode* node);
118 void _CollideNoPrimitiveTest(const AABBCollisionNode* node);
119 void _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
120 void _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
121 void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
122 // Overlap tests
123 inline_ BOOL OBBContainsBox(const Point& bc, const Point& be);
124 inline_ BOOL BoxBoxOverlap(const Point& extents, const Point& center);
125 inline_ BOOL TriBoxOverlap();
126 // Init methods
127 BOOL InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
128 };
129
130 class OPCODE_API HybridOBBCollider : public OBBCollider
131 {
132 public:
133 // Constructor / Destructor
134 HybridOBBCollider();
135 virtual ~HybridOBBCollider();
136
137 bool Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
138 protected:
139 Container mTouchedBoxes;
140 };
141
142#endif // __OPC_OBBCOLLIDER_H__
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