235 lines
12 KiB
C++
235 lines
12 KiB
C++
/*
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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 ray collider.
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* \file OPC_RayCollider.h
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* \author Pierre Terdiman
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* \date June, 2, 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_RAYCOLLIDER_H__
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#define __OPC_RAYCOLLIDER_H__
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class OPCODE_API CollisionFace
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{
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public:
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//! Constructor
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inline_ CollisionFace() {}
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//! Destructor
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inline_ ~CollisionFace() {}
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udword mFaceID; //!< Index of touched face
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float mDistance; //!< Distance from collider to hitpoint
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float mU, mV; //!< Impact barycentric coordinates
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};
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class OPCODE_API CollisionFaces : private Container
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{
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public:
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//! Constructor
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CollisionFaces() {}
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//! Destructor
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~CollisionFaces() {}
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inline_ udword GetNbFaces() const { return GetNbEntries()>>2; }
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inline_ const CollisionFace* GetFaces() const { return (const CollisionFace*)GetEntries(); }
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inline_ void Reset() { Container::Reset(); }
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inline_ void AddFace(const CollisionFace& face) { Add(face.mFaceID).Add(face.mDistance).Add(face.mU).Add(face.mV); }
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};
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#ifdef OPC_RAYHIT_CALLBACK
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* User-callback, called by OPCODE to record a hit.
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* \param hit [in] current hit
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* \param user_data [in] user-defined data from SetCallback()
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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typedef void (*HitCallback) (const CollisionFace& hit, void* user_data);
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#endif
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class OPCODE_API RayCollider : public Collider
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{
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public:
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// Constructor / Destructor
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RayCollider();
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virtual ~RayCollider();
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Generic stabbing query for generic OPCODE models. After the call, access the results:
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* - with GetContactStatus()
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* - in the user-provided destination array
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*
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* \param world_ray [in] stabbing ray in world space
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* \param model [in] Opcode model to collide with
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* \param world [in] model's world matrix, or null
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* \param cache [in] a possibly cached face index, 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(const Ray& world_ray, const Model& model, const Matrix4x4* world=null, udword* cache=null);
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//
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bool Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices);
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// Settings
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#ifndef OPC_RAYHIT_CALLBACK
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Settings: enable or disable "closest hit" mode.
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* \param flag [in] true to report closest hit only
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* \see SetCulling(bool flag)
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* \see SetMaxDist(float max_dist)
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* \see SetDestination(StabbedFaces* sf)
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ void SetClosestHit(bool flag) { mClosestHit = flag; }
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#endif
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Settings: enable or disable backface culling.
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* \param flag [in] true to enable backface culling
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* \see SetClosestHit(bool flag)
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* \see SetMaxDist(float max_dist)
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* \see SetDestination(StabbedFaces* sf)
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ void SetCulling(bool flag) { mCulling = flag; }
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Settings: sets the higher distance bound.
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* \param max_dist [in] higher distance bound. Default = maximal value, for ray queries (else segment)
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* \see SetClosestHit(bool flag)
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* \see SetCulling(bool flag)
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* \see SetDestination(StabbedFaces* sf)
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ void SetMaxDist(float max_dist=MAX_FLOAT) { mMaxDist = max_dist; }
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#ifdef OPC_RAYHIT_CALLBACK
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inline_ void SetHitCallback(HitCallback cb) { mHitCallback = cb; }
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inline_ void SetUserData(void* user_data) { mUserData = user_data; }
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#else
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Settings: sets the destination array for stabbed faces.
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* \param cf [in] destination array, filled during queries
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* \see SetClosestHit(bool flag)
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* \see SetCulling(bool flag)
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* \see SetMaxDist(float max_dist)
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ void SetDestination(CollisionFaces* cf) { mStabbedFaces = cf; }
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#endif
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// Stats
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Stats: gets the number of Ray-BV overlap tests after a collision query.
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* \see GetNbRayPrimTests()
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* \see GetNbIntersections()
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* \return the number of Ray-BV tests performed during last query
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ udword GetNbRayBVTests() const { return mNbRayBVTests; }
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Stats: gets the number of Ray-Triangle overlap tests after a collision query.
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* \see GetNbRayBVTests()
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* \see GetNbIntersections()
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* \return the number of Ray-Triangle tests performed during last query
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ udword GetNbRayPrimTests() const { return mNbRayPrimTests; }
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// In-out test
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Stats: gets the number of intersection found after a collision query. Can be used for in/out tests.
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* \see GetNbRayBVTests()
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* \see GetNbRayPrimTests()
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* \return the number of valid intersections during last query
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ udword GetNbIntersections() const { return mNbIntersections; }
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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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// Ray in local space
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Point mOrigin; //!< Ray origin
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Point mDir; //!< Ray direction (normalized)
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Point mFDir; //!< fabsf(mDir)
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Point mData, mData2;
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// Stabbed faces
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CollisionFace mStabbedFace; //!< Current stabbed face
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#ifdef OPC_RAYHIT_CALLBACK
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HitCallback mHitCallback; //!< Callback used to record a hit
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void* mUserData; //!< User-defined data
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#else
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CollisionFaces* mStabbedFaces; //!< List of stabbed faces
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#endif
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// Stats
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udword mNbRayBVTests; //!< Number of Ray-BV tests
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udword mNbRayPrimTests; //!< Number of Ray-Primitive tests
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// In-out test
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udword mNbIntersections; //!< Number of valid intersections
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// Dequantization coeffs
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Point mCenterCoeff;
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Point mExtentsCoeff;
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// Settings
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float mMaxDist; //!< Valid segment on the ray
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#ifndef OPC_RAYHIT_CALLBACK
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bool mClosestHit; //!< Report closest hit only
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#endif
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bool mCulling; //!< Stab culled faces or not
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// Internal methods
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void _SegmentStab(const AABBCollisionNode* node);
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void _SegmentStab(const AABBNoLeafNode* node);
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void _SegmentStab(const AABBQuantizedNode* node);
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void _SegmentStab(const AABBQuantizedNoLeafNode* node);
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void _SegmentStab(const AABBTreeNode* node, Container& box_indices);
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void _RayStab(const AABBCollisionNode* node);
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void _RayStab(const AABBNoLeafNode* node);
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void _RayStab(const AABBQuantizedNode* node);
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void _RayStab(const AABBQuantizedNoLeafNode* node);
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void _RayStab(const AABBTreeNode* node, Container& box_indices);
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// Overlap tests
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inline_ BOOL RayAABBOverlap(const Point& center, const Point& extents);
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inline_ BOOL SegmentAABBOverlap(const Point& center, const Point& extents);
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inline_ BOOL RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2);
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// Init methods
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BOOL InitQuery(const Ray& world_ray, const Matrix4x4* world=null, udword* face_id=null);
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};
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#endif // __OPC_RAYCOLLIDER_H__
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