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source: code/branches/ode/ode-0.9/OPCODE/OPC_PlanesCollider.h @ 241

Last change on this file since 241 was 216, checked in by mathiask, 18 years ago
[Physik] add ode-0.9
File size: 5.6 KB

Rev	Line
[216]	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 planes collider.
	12	* \file OPC_PlanesCollider.h
	13	* \author Pierre Terdiman
	14	* \date January, 1st, 2002
	15	*/
	16	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	17
	18	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	19	// Include Guard
	20	#ifndef __OPC_PLANESCOLLIDER_H__
	21	#define __OPC_PLANESCOLLIDER_H__
	22
	23	struct OPCODE_API PlanesCache : VolumeCache
	24	{
	25	PlanesCache()
	26	{
	27	}
	28	};
	29
	30	class OPCODE_API PlanesCollider : public VolumeCollider
	31	{
	32	public:
	33	// Constructor / Destructor
	34	PlanesCollider();
	35	virtual ~PlanesCollider();
	36
	37	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	38	/**
	39	* Generic collision query for generic OPCODE models. After the call, access the results:
	40	* - with GetContactStatus()
	41	* - with GetNbTouchedPrimitives()
	42	* - with GetTouchedPrimitives()
	43	*
	44	* \param cache [in/out] a planes cache
	45	* \param planes [in] list of planes in world space
	46	* \param nb_planes [in] number of planes
	47	* \param model [in] Opcode model to collide with
	48	* \param worldm [in] model's world matrix, or null
	49	* \return true if success
	50	* \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
	51	*/
	52	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	53	bool Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm=null);
	54
	55	// Mutant box-with-planes collision queries
	56	inline_ bool Collide(PlanesCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null)
	57	{
	58	Plane PL[6];
	59
	60	if(worldb)
	61	{
	62	// Create a new OBB in world space
	63	OBB WorldBox;
	64	box.Rotate(*worldb, WorldBox);
	65	// Compute planes from the sides of the box
	66	WorldBox.ComputePlanes(PL);
	67	}
	68	else
	69	{
	70	// Compute planes from the sides of the box
	71	box.ComputePlanes(PL);
	72	}
	73
	74	// Collide with box planes
	75	return Collide(cache, PL, 6, model, worldm);
	76	}
	77	// Settings
	78
	79	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	80	/**
	81	* Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
	82	* \return null if everything is ok, else a string describing the problem
	83	*/
	84	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	85	override(Collider) const char* ValidateSettings();
	86
	87	protected:
	88	// Planes in model space
	89	udword mNbPlanes;
	90	Plane* mPlanes;
	91	// Leaf description
	92	VertexPointers mVP;
	93	// Internal methods
	94	void _Collide(const AABBCollisionNode* node, udword clip_mask);
	95	void _Collide(const AABBNoLeafNode* node, udword clip_mask);
	96	void _Collide(const AABBQuantizedNode* node, udword clip_mask);
	97	void _Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask);
	98	void _CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask);
	99	void _CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask);
	100	void _CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask);
	101	void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask);
	102	// Overlap tests
	103	inline_ BOOL PlanesAABBOverlap(const Point& center, const Point& extents, udword& out_clip_mask, udword in_clip_mask);
	104	inline_ BOOL PlanesTriOverlap(udword in_clip_mask);
	105	// Init methods
	106	BOOL InitQuery(PlanesCache& cache, const Plane* planes, udword nb_planes, const Matrix4x4* worldm=null);
	107	};
	108
	109	class OPCODE_API HybridPlanesCollider : public PlanesCollider
	110	{
	111	public:
	112	// Constructor / Destructor
	113	HybridPlanesCollider();
	114	virtual ~HybridPlanesCollider();
	115
	116	bool Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm=null);
	117	protected:
	118	Container mTouchedBoxes;
	119	};
	120
	121	#endif // __OPC_PLANESCOLLIDER_H__

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