254 lines
14 KiB
C
254 lines
14 KiB
C
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/*
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* OPCODE - Optimized Collision Detection
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* http://www.codercorner.com/Opcode.htm
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*
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* Copyright (c) 2001-2008 Pierre Terdiman, pierre@codercorner.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains code for a tree collider.
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* \file OPC_TreeCollider.h
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* \author Pierre Terdiman
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* \date March, 20, 2001
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Include Guard
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#ifndef __OPC_TREECOLLIDER_H__
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#define __OPC_TREECOLLIDER_H__
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//! This structure holds cached information used by the algorithm.
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//! Two model pointers and two colliding primitives are cached. Model pointers are assigned
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//! to their respective meshes, and the pair of colliding primitives is used for temporal
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//! coherence. That is, in case temporal coherence is enabled, those two primitives are
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//! tested for overlap before everything else. If they still collide, we're done before
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//! even entering the recursive collision code.
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struct OPCODE_API BVTCache : Pair
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{
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//! Constructor
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inline_ BVTCache()
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{
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ResetCache();
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ResetCountDown();
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}
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void ResetCache()
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{
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Model0 = null;
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Model1 = null;
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id0 = 0;
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id1 = 1;
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#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
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HullTest = true;
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SepVector.pid = 0;
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SepVector.qid = 0;
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SepVector.SV = Point(1.0f, 0.0f, 0.0f);
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#endif // __MESHMERIZER_H__
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}
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inline_ void ResetCountDown()
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{
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#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
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CountDown = 50;
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#endif // __MESHMERIZER_H__
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}
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const Model* Model0; //!< Model for first object
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const Model* Model1; //!< Model for second object
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#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
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SVCache SepVector;
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udword CountDown;
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bool HullTest;
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#endif // __MESHMERIZER_H__
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};
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class OPCODE_API AABBTreeCollider : public Collider
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{
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public:
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// Constructor / Destructor
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AABBTreeCollider();
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virtual ~AABBTreeCollider();
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// Generic collision query
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Generic collision query for generic OPCODE models. After the call, access the results with:
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* - GetContactStatus()
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* - GetNbPairs()
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* - GetPairs()
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*
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* \param cache [in] collision cache for model pointers and a colliding pair of primitives
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* \param world0 [in] world matrix for first object, or null
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* \param world1 [in] world matrix for second object, or null
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* \return true if success
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* \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool Collide(BVTCache& cache, const Matrix4x4* world0=null, const Matrix4x4* world1=null);
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// Collision queries
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bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
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bool Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
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bool Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
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bool Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
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// Settings
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded)
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* \param flag [in] true for full tests, false for coarse tests
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* \see SetFullPrimBoxTest(bool flag)
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; }
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded)
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* \param flag [in] true for full tests, false for coarse tests
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* \see SetFullBoxBoxTest(bool flag)
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ void SetFullPrimBoxTest(bool flag) { mFullPrimBoxTest = flag; }
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// Stats
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Stats: gets the number of BV-BV overlap tests after a collision query.
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* \see GetNbPrimPrimTests()
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* \see GetNbBVPrimTests()
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* \return the number of BV-BV tests performed during last query
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ udword GetNbBVBVTests() const { return mNbBVBVTests; }
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Stats: gets the number of Triangle-Triangle overlap tests after a collision query.
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* \see GetNbBVBVTests()
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* \see GetNbBVPrimTests()
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* \return the number of Triangle-Triangle tests performed during last query
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ udword GetNbPrimPrimTests() const { return mNbPrimPrimTests; }
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Stats: gets the number of BV-Triangle overlap tests after a collision query.
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* \see GetNbBVBVTests()
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* \see GetNbPrimPrimTests()
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* \return the number of BV-Triangle tests performed during last query
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ udword GetNbBVPrimTests() const { return mNbBVPrimTests; }
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// Data access
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Gets the number of contacts after a collision query.
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* \see GetContactStatus()
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* \see GetPairs()
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* \return the number of contacts / colliding pairs.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ udword GetNbPairs() const { return mPairs.GetNbEntries()>>1; }
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Gets the pairs of colliding triangles after a collision query.
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* \see GetContactStatus()
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* \see GetNbPairs()
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* \return the list of colliding pairs (triangle indices)
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ const Pair* GetPairs() const { return (const Pair*)mPairs.GetEntries(); }
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
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* \return null if everything is ok, else a string describing the problem
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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override(Collider) const char* ValidateSettings();
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protected:
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// Colliding pairs
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Container mPairs; //!< Pairs of colliding primitives
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// User mesh interfaces
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const MeshInterface* mIMesh0; //!< User-defined mesh interface for object0
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const MeshInterface* mIMesh1; //!< User-defined mesh interface for object1
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// Stats
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udword mNbBVBVTests; //!< Number of BV-BV tests
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udword mNbPrimPrimTests; //!< Number of Primitive-Primitive tests
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udword mNbBVPrimTests; //!< Number of BV-Primitive tests
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// Precomputed data
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Matrix3x3 mAR; //!< Absolute rotation matrix
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Matrix3x3 mR0to1; //!< Rotation from object0 to object1
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Matrix3x3 mR1to0; //!< Rotation from object1 to object0
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Point mT0to1; //!< Translation from object0 to object1
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Point mT1to0; //!< Translation from object1 to object0
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// Dequantization coeffs
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Point mCenterCoeff0;
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Point mExtentsCoeff0;
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Point mCenterCoeff1;
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Point mExtentsCoeff1;
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// Leaf description
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Point mLeafVerts[3]; //!< Triangle vertices
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udword mLeafIndex; //!< Triangle index
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// Settings
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bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false)
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bool mFullPrimBoxTest; //!< Perform full Primitive-BV tests (true) or SAT-lite tests (false)
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// Internal methods
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// Standard AABB trees
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void _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1);
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// Quantized AABB trees
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void _Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const Point& a, const Point& Pa, const Point& b, const Point& Pb);
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// No-leaf AABB trees
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void _CollideTriBox(const AABBNoLeafNode* b);
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void _CollideBoxTri(const AABBNoLeafNode* b);
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void _Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b);
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// Quantized no-leaf AABB trees
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void _CollideTriBox(const AABBQuantizedNoLeafNode* b);
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void _CollideBoxTri(const AABBQuantizedNoLeafNode* b);
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void _Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b);
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// Overlap tests
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void PrimTest(udword id0, udword id1);
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inline_ void PrimTestTriIndex(udword id1);
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inline_ void PrimTestIndexTri(udword id0);
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inline_ BOOL BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb);
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inline_ BOOL TriBoxOverlap(const Point& center, const Point& extents);
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inline_ BOOL TriTriOverlap(const Point& V0, const Point& V1, const Point& V2, const Point& U0, const Point& U1, const Point& U2);
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// Init methods
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void InitQuery(const Matrix4x4* world0=null, const Matrix4x4* world1=null);
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bool CheckTemporalCoherence(Pair* cache);
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inline_ BOOL Setup(const MeshInterface* mi0, const MeshInterface* mi1)
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{
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mIMesh0 = mi0;
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mIMesh1 = mi1;
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if(!mIMesh0 || !mIMesh1) return FALSE;
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return TRUE;
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}
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};
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#endif // __OPC_TREECOLLIDER_H__
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