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Diffstat (limited to 'libraries/ode-0.9/OPCODE/OPC_SphereCollider.h')
| -rw-r--r-- | libraries/ode-0.9/OPCODE/OPC_SphereCollider.h | 96 |
1 files changed, 96 insertions, 0 deletions
diff --git a/libraries/ode-0.9/OPCODE/OPC_SphereCollider.h b/libraries/ode-0.9/OPCODE/OPC_SphereCollider.h new file mode 100644 index 0000000..ac6495e --- /dev/null +++ b/libraries/ode-0.9/OPCODE/OPC_SphereCollider.h | |||
| @@ -0,0 +1,96 @@ | |||
| 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 sphere collider. | ||
| 12 | * \file OPC_SphereCollider.h | ||
| 13 | * \author Pierre Terdiman | ||
| 14 | * \date June, 2, 2001 | ||
| 15 | */ | ||
| 16 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
| 17 | |||
| 18 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
| 19 | // Include Guard | ||
| 20 | #ifndef __OPC_SPHERECOLLIDER_H__ | ||
| 21 | #define __OPC_SPHERECOLLIDER_H__ | ||
| 22 | |||
| 23 | struct OPCODE_API SphereCache : VolumeCache | ||
| 24 | { | ||
| 25 | SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f) {} | ||
| 26 | ~SphereCache() {} | ||
| 27 | |||
| 28 | // Cached faces signature | ||
| 29 | Point Center; //!< Sphere used when performing the query resulting in cached faces | ||
| 30 | float FatRadius2; //!< Sphere used when performing the query resulting in cached faces | ||
| 31 | // User settings | ||
| 32 | float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere | ||
| 33 | }; | ||
| 34 | |||
| 35 | class OPCODE_API SphereCollider : public VolumeCollider | ||
| 36 | { | ||
| 37 | public: | ||
| 38 | // Constructor / Destructor | ||
| 39 | SphereCollider(); | ||
| 40 | virtual ~SphereCollider(); | ||
| 41 | |||
| 42 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
| 43 | /** | ||
| 44 | * Generic collision query for generic OPCODE models. After the call, access the results: | ||
| 45 | * - with GetContactStatus() | ||
| 46 | * - with GetNbTouchedPrimitives() | ||
| 47 | * - with GetTouchedPrimitives() | ||
| 48 | * | ||
| 49 | * \param cache [in/out] a sphere cache | ||
| 50 | * \param sphere [in] collision sphere in local space | ||
| 51 | * \param model [in] Opcode model to collide with | ||
| 52 | * \param worlds [in] sphere's world matrix, or null | ||
| 53 | * \param worldm [in] model's world matrix, or null | ||
| 54 | * \return true if success | ||
| 55 | * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. | ||
| 56 | */ | ||
| 57 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
| 58 | bool Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); | ||
| 59 | |||
| 60 | // | ||
| 61 | bool Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree); | ||
| 62 | protected: | ||
| 63 | // Sphere in model space | ||
| 64 | Point mCenter; //!< Sphere center | ||
| 65 | float mRadius2; //!< Sphere radius squared | ||
| 66 | // Internal methods | ||
| 67 | void _Collide(const AABBCollisionNode* node); | ||
| 68 | void _Collide(const AABBNoLeafNode* node); | ||
| 69 | void _Collide(const AABBQuantizedNode* node); | ||
| 70 | void _Collide(const AABBQuantizedNoLeafNode* node); | ||
| 71 | void _Collide(const AABBTreeNode* node); | ||
| 72 | void _CollideNoPrimitiveTest(const AABBCollisionNode* node); | ||
| 73 | void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); | ||
| 74 | void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); | ||
| 75 | void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); | ||
| 76 | // Overlap tests | ||
| 77 | inline_ BOOL SphereContainsBox(const Point& bc, const Point& be); | ||
| 78 | inline_ BOOL SphereAABBOverlap(const Point& center, const Point& extents); | ||
| 79 | BOOL SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); | ||
| 80 | // Init methods | ||
| 81 | BOOL InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); | ||
| 82 | }; | ||
| 83 | |||
| 84 | class OPCODE_API HybridSphereCollider : public SphereCollider | ||
| 85 | { | ||
| 86 | public: | ||
| 87 | // Constructor / Destructor | ||
| 88 | HybridSphereCollider(); | ||
| 89 | virtual ~HybridSphereCollider(); | ||
| 90 | |||
| 91 | bool Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); | ||
| 92 | protected: | ||
| 93 | Container mTouchedBoxes; | ||
| 94 | }; | ||
| 95 | |||
| 96 | #endif // __OPC_SPHERECOLLIDER_H__ | ||