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source: code/branches/ode/ode-0.9/OPCODE/OPC_TreeCollider.h @ 275

Last change on this file since 275 was 216, checked in by mathiask, 18 years ago
[Physik] add ode-0.9
File size: 13.1 KB

Line
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 tree collider.
12	* \file OPC_TreeCollider.h
13	* \author Pierre Terdiman
14	* \date March, 20, 2001
15	*/
16	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
17
18	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
19	// Include Guard
20	#ifndef __OPC_TREECOLLIDER_H__
21	#define __OPC_TREECOLLIDER_H__
22
23	//! This structure holds cached information used by the algorithm.
24	//! Two model pointers and two colliding primitives are cached. Model pointers are assigned
25	//! to their respective meshes, and the pair of colliding primitives is used for temporal
26	//! coherence. That is, in case temporal coherence is enabled, those two primitives are
27	//! tested for overlap before everything else. If they still collide, we're done before
28	//! even entering the recursive collision code.
29	struct OPCODE_API BVTCache : Pair
30	{
31	//! Constructor
32	inline_ BVTCache()
33	{
34	ResetCache();
35	ResetCountDown();
36	}
37
38	void ResetCache()
39	{
40	Model0 = null;
41	Model1 = null;
42	id0 = 0;
43	id1 = 1;
44	#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
45	HullTest = true;
46	SepVector.pid = 0;
47	SepVector.qid = 0;
48	SepVector.SV = Point(1.0f, 0.0f, 0.0f);
49	#endif // __MESHMERIZER_H__
50	}
51
52	#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
53	inline_ void ResetCountDown()
54	{
55	CountDown = 50;
56	}
57	#else
58	void ResetCountDown(){};
59	#endif // __MESHMERIZER_H__
60
61	const Model* Model0; //!< Model for first object
62	const Model* Model1; //!< Model for second object
63
64	#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE !
65	SVCache SepVector;
66	udword CountDown;
67	bool HullTest;
68	#endif // __MESHMERIZER_H__
69	};
70
71	class OPCODE_API AABBTreeCollider : public Collider
72	{
73	public:
74	// Constructor / Destructor
75	AABBTreeCollider();
76	virtual ~AABBTreeCollider();
77	// Generic collision query
78
79	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
80	/**
81	* Generic collision query for generic OPCODE models. After the call, access the results with:
82	* - GetContactStatus()
83	* - GetNbPairs()
84	* - GetPairs()
85	*
86	* \param cache [in] collision cache for model pointers and a colliding pair of primitives
87	* \param world0 [in] world matrix for first object, or null
88	* \param world1 [in] world matrix for second object, or null
89	* \return true if success
90	* \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
91	*/
92	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
93	bool Collide(BVTCache& cache, const Matrix4x4* world0=null, const Matrix4x4* world1=null);
94
95	// Collision queries
96	bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
97	bool Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
98	bool Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
99	bool Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null);
100	// Settings
101
102	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
103	/**
104	* Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded)
105	* \param flag [in] true for full tests, false for coarse tests
106	* \see SetFullPrimBoxTest(bool flag)
107	*/
108	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
109	inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; }
110
111	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
112	/**
113	* Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded)
114	* \param flag [in] true for full tests, false for coarse tests
115	* \see SetFullBoxBoxTest(bool flag)
116	*/
117	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
118	inline_ void SetFullPrimBoxTest(bool flag) { mFullPrimBoxTest = flag; }
119
120	// Stats
121
122	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
123	/**
124	* Stats: gets the number of BV-BV overlap tests after a collision query.
125	* \see GetNbPrimPrimTests()
126	* \see GetNbBVPrimTests()
127	* \return the number of BV-BV tests performed during last query
128	*/
129	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
130	inline_ udword GetNbBVBVTests() const { return mNbBVBVTests; }
131
132	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
133	/**
134	* Stats: gets the number of Triangle-Triangle overlap tests after a collision query.
135	* \see GetNbBVBVTests()
136	* \see GetNbBVPrimTests()
137	* \return the number of Triangle-Triangle tests performed during last query
138	*/
139	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
140	inline_ udword GetNbPrimPrimTests() const { return mNbPrimPrimTests; }
141
142	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
143	/**
144	* Stats: gets the number of BV-Triangle overlap tests after a collision query.
145	* \see GetNbBVBVTests()
146	* \see GetNbPrimPrimTests()
147	* \return the number of BV-Triangle tests performed during last query
148	*/
149	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
150	inline_ udword GetNbBVPrimTests() const { return mNbBVPrimTests; }
151
152	// Data access
153
154	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
155	/**
156	* Gets the number of contacts after a collision query.
157	* \see GetContactStatus()
158	* \see GetPairs()
159	* \return the number of contacts / colliding pairs.
160	*/
161	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
162	inline_ udword GetNbPairs() const { return mPairs.GetNbEntries()>>1; }
163
164	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
165	/**
166	* Gets the pairs of colliding triangles after a collision query.
167	* \see GetContactStatus()
168	* \see GetNbPairs()
169	* \return the list of colliding pairs (triangle indices)
170	*/
171	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
172	inline_ const Pair* GetPairs() const { return (const Pair*)mPairs.GetEntries(); }
173
174	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
175	/**
176	* Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
177	* \return null if everything is ok, else a string describing the problem
178	*/
179	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
180	override(Collider) const char* ValidateSettings();
181
182	protected:
183	// Colliding pairs
184	Container mPairs; //!< Pairs of colliding primitives
185	// User mesh interfaces
186	const MeshInterface* mIMesh0; //!< User-defined mesh interface for object0
187	const MeshInterface* mIMesh1; //!< User-defined mesh interface for object1
188	// Stats
189	udword mNbBVBVTests; //!< Number of BV-BV tests
190	udword mNbPrimPrimTests; //!< Number of Primitive-Primitive tests
191	udword mNbBVPrimTests; //!< Number of BV-Primitive tests
192	// Precomputed data
193	Matrix3x3 mAR; //!< Absolute rotation matrix
194	Matrix3x3 mR0to1; //!< Rotation from object0 to object1
195	Matrix3x3 mR1to0; //!< Rotation from object1 to object0
196	Point mT0to1; //!< Translation from object0 to object1
197	Point mT1to0; //!< Translation from object1 to object0
198	// Dequantization coeffs
199	Point mCenterCoeff0;
200	Point mExtentsCoeff0;
201	Point mCenterCoeff1;
202	Point mExtentsCoeff1;
203	// Leaf description
204	Point mLeafVerts[3]; //!< Triangle vertices
205	udword mLeafIndex; //!< Triangle index
206	// Settings
207	bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false)
208	bool mFullPrimBoxTest; //!< Perform full Primitive-BV tests (true) or SAT-lite tests (false)
209	// Internal methods
210
211	// Standard AABB trees
212	void _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1);
213	// Quantized AABB trees
214	void _Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const Point& a, const Point& Pa, const Point& b, const Point& Pb);
215	// No-leaf AABB trees
216	void _CollideTriBox(const AABBNoLeafNode* b);
217	void _CollideBoxTri(const AABBNoLeafNode* b);
218	void _Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b);
219	// Quantized no-leaf AABB trees
220	void _CollideTriBox(const AABBQuantizedNoLeafNode* b);
221	void _CollideBoxTri(const AABBQuantizedNoLeafNode* b);
222	void _Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b);
223	// Overlap tests
224	void PrimTest(udword id0, udword id1);
225	inline_ void PrimTestTriIndex(udword id1);
226	inline_ void PrimTestIndexTri(udword id0);
227
228	inline_ BOOL BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb);
229	inline_ BOOL TriBoxOverlap(const Point& center, const Point& extents);
230	inline_ BOOL TriTriOverlap(const Point& V0, const Point& V1, const Point& V2, const Point& U0, const Point& U1, const Point& U2);
231	// Init methods
232	void InitQuery(const Matrix4x4* world0=null, const Matrix4x4* world1=null);
233	bool CheckTemporalCoherence(Pair* cache);
234
235	inline_ BOOL Setup(const MeshInterface* mi0, const MeshInterface* mi1)
236	{
237	mIMesh0 = mi0;
238	mIMesh1 = mi1;
239
240	if(!mIMesh0 \|\| !mIMesh1) return FALSE;
241
242	return TRUE;
243	}
244	};
245
246	#endif // __OPC_TREECOLLIDER_H__

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