97 lines
4.7 KiB
C
97 lines
4.7 KiB
C
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/*
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* OPCODE - Optimized Collision Detection
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* Copyright (C) 2001 Pierre Terdiman
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* Homepage: http://www.codercorner.com/Opcode.htm
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains code for a sphere collider.
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* \file OPC_SphereCollider.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_SPHERECOLLIDER_H__
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#define __OPC_SPHERECOLLIDER_H__
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struct OPCODE_API SphereCache : VolumeCache
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{
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SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f) {}
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~SphereCache() {}
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// Cached faces signature
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Point Center; //!< Sphere used when performing the query resulting in cached faces
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float FatRadius2; //!< Sphere used when performing the query resulting in cached faces
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// User settings
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float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere
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};
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class OPCODE_API SphereCollider : public VolumeCollider
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{
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public:
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// Constructor / Destructor
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SphereCollider();
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virtual ~SphereCollider();
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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 sphere cache
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* \param sphere [in] collision sphere in local space
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* \param model [in] Opcode model to collide with
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* \param worlds [in] sphere'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(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
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//
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bool Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree);
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protected:
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// Sphere in model space
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Point mCenter; //!< Sphere center
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float mRadius2; //!< Sphere radius squared
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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 _Collide(const AABBTreeNode* 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 SphereContainsBox(const Point& bc, const Point& be);
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inline_ BOOL SphereAABBOverlap(const Point& center, const Point& extents);
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BOOL SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2);
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// Init methods
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BOOL InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
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};
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class OPCODE_API HybridSphereCollider : public SphereCollider
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{
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public:
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// Constructor / Destructor
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HybridSphereCollider();
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virtual ~HybridSphereCollider();
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bool Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=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_SPHERECOLLIDER_H__
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