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authordan miller2007-10-19 05:20:48 +0000
committerdan miller2007-10-19 05:20:48 +0000
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one more for the gipper
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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 tree collider.
12 * \file OPC_TreeCollider.h
13 * \author Pierre Terdiman
14 * \date March, 20, 2001
15 */
16///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
17
18///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
19// Include Guard
20#ifndef __OPC_TREECOLLIDER_H__
21#define __OPC_TREECOLLIDER_H__
22
23 //! This structure holds cached information used by the algorithm.
24 //! Two model pointers and two colliding primitives are cached. Model pointers are assigned
25 //! to their respective meshes, and the pair of colliding primitives is used for temporal
26 //! coherence. That is, in case temporal coherence is enabled, those two primitives are
27 //! tested for overlap before everything else. If they still collide, we're done before
28 //! even entering the recursive collision code.
29 struct OPCODE_API BVTCache : Pair
30 {
31 //! Constructor
32 inline_ BVTCache()
33 {
34 ResetCache();
35 ResetCountDown();
36 }
37
38 void ResetCache()
39 {
40 Model0 = null;
41 Model1 = null;
42 id0 = 0;
43 id1 = 1;
44#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
45 HullTest = true;
46 SepVector.pid = 0;
47 SepVector.qid = 0;
48 SepVector.SV = Point(1.0f, 0.0f, 0.0f);
49#endif // __MESHMERIZER_H__
50 }
51
52#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
53 inline_ void ResetCountDown()
54 {
55 CountDown = 50;
56 }
57#else
58 void ResetCountDown(){};
59#endif // __MESHMERIZER_H__
60
61 const Model* Model0; //!< Model for first object
62 const Model* Model1; //!< Model for second object
63
64#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
65 SVCache SepVector;
66 udword CountDown;
67 bool HullTest;
68#endif // __MESHMERIZER_H__
69 };
70
71 class OPCODE_API AABBTreeCollider : public Collider
72 {
73 public:
74 // Constructor / Destructor
75 AABBTreeCollider();
76 virtual ~AABBTreeCollider();
77 // Generic collision query
78
79 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
80 /**
81 * Generic collision query for generic OPCODE models. After the call, access the results with:
82 * - GetContactStatus()
83 * - GetNbPairs()
84 * - GetPairs()
85 *
86 * \param cache [in] collision cache for model pointers and a colliding pair of primitives
87 * \param world0 [in] world matrix for first object, or null
88 * \param world1 [in] world matrix for second object, or null
89 * \return true if success
90 * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
91 */
92 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
93 bool Collide(BVTCache& cache, const Matrix4x4* world0=null, const Matrix4x4* world1=null);
94
95 // Collision queries
96 bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
97 bool Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
98 bool Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
99 bool Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
100 // Settings
101
102 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
103 /**
104 * Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded)
105 * \param flag [in] true for full tests, false for coarse tests
106 * \see SetFullPrimBoxTest(bool flag)
107 */
108 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
109 inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; }
110
111 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
112 /**
113 * Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded)
114 * \param flag [in] true for full tests, false for coarse tests
115 * \see SetFullBoxBoxTest(bool flag)
116 */
117 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
118 inline_ void SetFullPrimBoxTest(bool flag) { mFullPrimBoxTest = flag; }
119
120 // Stats
121
122 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
123 /**
124 * Stats: gets the number of BV-BV overlap tests after a collision query.
125 * \see GetNbPrimPrimTests()
126 * \see GetNbBVPrimTests()
127 * \return the number of BV-BV tests performed during last query
128 */
129 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
130 inline_ udword GetNbBVBVTests() const { return mNbBVBVTests; }
131
132 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
133 /**
134 * Stats: gets the number of Triangle-Triangle overlap tests after a collision query.
135 * \see GetNbBVBVTests()
136 * \see GetNbBVPrimTests()
137 * \return the number of Triangle-Triangle tests performed during last query
138 */
139 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
140 inline_ udword GetNbPrimPrimTests() const { return mNbPrimPrimTests; }
141
142 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
143 /**
144 * Stats: gets the number of BV-Triangle overlap tests after a collision query.
145 * \see GetNbBVBVTests()
146 * \see GetNbPrimPrimTests()
147 * \return the number of BV-Triangle tests performed during last query
148 */
149 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
150 inline_ udword GetNbBVPrimTests() const { return mNbBVPrimTests; }
151
152 // Data access
153
154 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
155 /**
156 * Gets the number of contacts after a collision query.
157 * \see GetContactStatus()
158 * \see GetPairs()
159 * \return the number of contacts / colliding pairs.
160 */
161 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
162 inline_ udword GetNbPairs() const { return mPairs.GetNbEntries()>>1; }
163
164 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
165 /**
166 * Gets the pairs of colliding triangles after a collision query.
167 * \see GetContactStatus()
168 * \see GetNbPairs()
169 * \return the list of colliding pairs (triangle indices)
170 */
171 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
172 inline_ const Pair* GetPairs() const { return (const Pair*)mPairs.GetEntries(); }
173
174 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
175 /**
176 * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
177 * \return null if everything is ok, else a string describing the problem
178 */
179 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
180 override(Collider) const char* ValidateSettings();
181
182 protected:
183 // Colliding pairs
184 Container mPairs; //!< Pairs of colliding primitives
185 // User mesh interfaces
186 const MeshInterface* mIMesh0; //!< User-defined mesh interface for object0
187 const MeshInterface* mIMesh1; //!< User-defined mesh interface for object1
188 // Stats
189 udword mNbBVBVTests; //!< Number of BV-BV tests
190 udword mNbPrimPrimTests; //!< Number of Primitive-Primitive tests
191 udword mNbBVPrimTests; //!< Number of BV-Primitive tests
192 // Precomputed data
193 Matrix3x3 mAR; //!< Absolute rotation matrix
194 Matrix3x3 mR0to1; //!< Rotation from object0 to object1
195 Matrix3x3 mR1to0; //!< Rotation from object1 to object0
196 Point mT0to1; //!< Translation from object0 to object1
197 Point mT1to0; //!< Translation from object1 to object0
198 // Dequantization coeffs
199 Point mCenterCoeff0;
200 Point mExtentsCoeff0;
201 Point mCenterCoeff1;
202 Point mExtentsCoeff1;
203 // Leaf description
204 Point mLeafVerts[3]; //!< Triangle vertices
205 udword mLeafIndex; //!< Triangle index
206 // Settings
207 bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false)
208 bool mFullPrimBoxTest; //!< Perform full Primitive-BV tests (true) or SAT-lite tests (false)
209 // Internal methods
210
211 // Standard AABB trees
212 void _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1);
213 // Quantized AABB trees
214 void _Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const Point& a, const Point& Pa, const Point& b, const Point& Pb);
215 // No-leaf AABB trees
216 void _CollideTriBox(const AABBNoLeafNode* b);
217 void _CollideBoxTri(const AABBNoLeafNode* b);
218 void _Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b);
219 // Quantized no-leaf AABB trees
220 void _CollideTriBox(const AABBQuantizedNoLeafNode* b);
221 void _CollideBoxTri(const AABBQuantizedNoLeafNode* b);
222 void _Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b);
223 // Overlap tests
224 void PrimTest(udword id0, udword id1);
225 inline_ void PrimTestTriIndex(udword id1);
226 inline_ void PrimTestIndexTri(udword id0);
227
228 inline_ BOOL BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb);
229 inline_ BOOL TriBoxOverlap(const Point& center, const Point& extents);
230 inline_ BOOL TriTriOverlap(const Point& V0, const Point& V1, const Point& V2, const Point& U0, const Point& U1, const Point& U2);
231 // Init methods
232 void InitQuery(const Matrix4x4* world0=null, const Matrix4x4* world1=null);
233 bool CheckTemporalCoherence(Pair* cache);
234
235 inline_ BOOL Setup(const MeshInterface* mi0, const MeshInterface* mi1)
236 {
237 mIMesh0 = mi0;
238 mIMesh1 = mi1;
239
240 if(!mIMesh0 || !mIMesh1) return FALSE;
241
242 return TRUE;
243 }
244 };
245
246#endif // __OPC_TREECOLLIDER_H__
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