152 lines
6.9 KiB
C++
152 lines
6.9 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 an OBB collider.
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* \file OPC_OBBCollider.h
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* \author Pierre Terdiman
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* \date January, 1st, 2002
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Include Guard
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#ifndef __OPC_OBBCOLLIDER_H__
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#define __OPC_OBBCOLLIDER_H__
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struct OPCODE_API OBBCache : VolumeCache
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{
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OBBCache() : FatCoeff(1.1f)
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{
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FatBox.mCenter.Zero();
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FatBox.mExtents.Zero();
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FatBox.mRot.Identity();
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}
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// Cached faces signature
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OBB FatBox; //!< Box used when performing the query resulting in cached faces
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// User settings
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float FatCoeff; //!< extents multiplier used to create a fat box
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};
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class OPCODE_API OBBCollider : public VolumeCollider
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{
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public:
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// Constructor / Destructor
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OBBCollider();
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virtual ~OBBCollider();
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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:
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* - with GetContactStatus()
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* - with GetNbTouchedPrimitives()
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* - with GetTouchedPrimitives()
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*
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* \param cache [in/out] a box cache
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* \param box [in] collision OBB in local space
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* \param model [in] Opcode model to collide with
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* \param worldb [in] OBB's world matrix, or null
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* \param worldm [in] model's world matrix, 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(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
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// Settings
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Settings: select 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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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; }
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// Settings
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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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// Precomputed data
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Matrix3x3 mAR; //!< Absolute rotation matrix
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Matrix3x3 mRModelToBox; //!< Rotation from model space to obb space
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Matrix3x3 mRBoxToModel; //!< Rotation from obb space to model space
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Point mTModelToBox; //!< Translation from model space to obb space
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Point mTBoxToModel; //!< Translation from obb space to model space
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Point mBoxExtents;
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Point mB0; //!< - mTModelToBox + mBoxExtents
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Point mB1; //!< - mTModelToBox - mBoxExtents
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float mBBx1;
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float mBBy1;
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float mBBz1;
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float mBB_1;
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float mBB_2;
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float mBB_3;
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float mBB_4;
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float mBB_5;
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float mBB_6;
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float mBB_7;
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float mBB_8;
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float mBB_9;
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// Leaf description
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Point mLeafVerts[3]; //!< Triangle vertices
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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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// Internal methods
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void _Collide(const AABBCollisionNode* node);
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void _Collide(const AABBNoLeafNode* node);
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void _Collide(const AABBQuantizedNode* node);
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void _Collide(const AABBQuantizedNoLeafNode* node);
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void _CollideNoPrimitiveTest(const AABBCollisionNode* node);
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void _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
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void _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
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void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
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// Overlap tests
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inline_ BOOL OBBContainsBox(const Point& bc, const Point& be);
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inline_ BOOL BoxBoxOverlap(const Point& extents, const Point& center);
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inline_ BOOL TriBoxOverlap();
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// Init methods
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BOOL InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
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};
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class OPCODE_API HybridOBBCollider : public OBBCollider
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{
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public:
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// Constructor / Destructor
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HybridOBBCollider();
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virtual ~HybridOBBCollider();
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bool Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
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protected:
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Container mTouchedBoxes;
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};
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#endif // __OPC_OBBCOLLIDER_H__
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