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Diffstat (limited to 'contrib/Opcode/OPC_TreeCollider.h')
| -rw-r--r-- | contrib/Opcode/OPC_TreeCollider.h | 244 |
1 files changed, 0 insertions, 244 deletions
diff --git a/contrib/Opcode/OPC_TreeCollider.h b/contrib/Opcode/OPC_TreeCollider.h deleted file mode 100644 index ec0e517..0000000 --- a/contrib/Opcode/OPC_TreeCollider.h +++ /dev/null @@ -1,244 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for a tree collider. - * \file OPC_TreeCollider.h - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_TREECOLLIDER_H__ -#define __OPC_TREECOLLIDER_H__ - - //! This structure holds cached information used by the algorithm. - //! Two model pointers and two colliding primitives are cached. Model pointers are assigned - //! to their respective meshes, and the pair of colliding primitives is used for temporal - //! coherence. That is, in case temporal coherence is enabled, those two primitives are - //! tested for overlap before everything else. If they still collide, we're done before - //! even entering the recursive collision code. - struct OPCODE_API BVTCache : Pair - { - //! Constructor - inline_ BVTCache() - { - ResetCache(); - ResetCountDown(); - } - - void ResetCache() - { - Model0 = null; - Model1 = null; - id0 = 0; - id1 = 1; -#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! - HullTest = true; - SepVector.pid = 0; - SepVector.qid = 0; - SepVector.SV = IcePoint(1.0f, 0.0f, 0.0f); -#endif // __MESHMERIZER_H__ - } - - inline_ void ResetCountDown() - { -#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! - CountDown = 50; -#endif // __MESHMERIZER_H__ - } - - const Model* Model0; //!< Model for first object - const Model* Model1; //!< Model for second object - -#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! - SVCache SepVector; - udword CountDown; - bool HullTest; -#endif // __MESHMERIZER_H__ - }; - - class OPCODE_API AABBTreeCollider : public Collider - { - public: - // Constructor / Destructor - AABBTreeCollider(); - virtual ~AABBTreeCollider(); - // Generic collision query - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Generic collision query for generic OPCODE models. After the call, access the results with: - * - GetContactStatus() - * - GetNbPairs() - * - GetPairs() - * - * \param cache [in] collision cache for model pointers and a colliding pair of primitives - * \param world0 [in] world matrix for first object, or null - * \param world1 [in] world matrix for second object, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool Collide(BVTCache& cache, const Matrix4x4* world0=null, const Matrix4x4* world1=null); - - // Collision queries - bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); - bool Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); - bool Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); - bool Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); - // Settings - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded) - * \param flag [in] true for full tests, false for coarse tests - * \see SetFullPrimBoxTest(bool flag) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded) - * \param flag [in] true for full tests, false for coarse tests - * \see SetFullBoxBoxTest(bool flag) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetFullPrimBoxTest(bool flag) { mFullPrimBoxTest = flag; } - - // Stats - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of BV-BV overlap tests after a collision query. - * \see GetNbPrimPrimTests() - * \see GetNbBVPrimTests() - * \return the number of BV-BV tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbBVBVTests() const { return mNbBVBVTests; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of Triangle-Triangle overlap tests after a collision query. - * \see GetNbBVBVTests() - * \see GetNbBVPrimTests() - * \return the number of Triangle-Triangle tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbPrimPrimTests() const { return mNbPrimPrimTests; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of BV-Triangle overlap tests after a collision query. - * \see GetNbBVBVTests() - * \see GetNbPrimPrimTests() - * \return the number of BV-Triangle tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbBVPrimTests() const { return mNbBVPrimTests; } - - // Data access - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the number of contacts after a collision query. - * \see GetContactStatus() - * \see GetPairs() - * \return the number of contacts / colliding pairs. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbPairs() const { return mPairs.GetNbEntries()>>1; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the pairs of colliding triangles after a collision query. - * \see GetContactStatus() - * \see GetNbPairs() - * \return the list of colliding pairs (triangle indices) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ const Pair* GetPairs() const { return (const Pair*)mPairs.GetEntries(); } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. - * \return null if everything is ok, else a string describing the problem - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(Collider) const char* ValidateSettings(); - - protected: - // Colliding pairs - Container mPairs; //!< Pairs of colliding primitives - // User mesh interfaces - const MeshInterface* mIMesh0; //!< User-defined mesh interface for object0 - const MeshInterface* mIMesh1; //!< User-defined mesh interface for object1 - // Stats - udword mNbBVBVTests; //!< Number of BV-BV tests - udword mNbPrimPrimTests; //!< Number of Primitive-Primitive tests - udword mNbBVPrimTests; //!< Number of BV-Primitive tests - // Precomputed data - Matrix3x3 mAR; //!< Absolute rotation matrix - Matrix3x3 mR0to1; //!< Rotation from object0 to object1 - Matrix3x3 mR1to0; //!< Rotation from object1 to object0 - IcePoint mT0to1; //!< Translation from object0 to object1 - IcePoint mT1to0; //!< Translation from object1 to object0 - // Dequantization coeffs - IcePoint mCenterCoeff0; - IcePoint mExtentsCoeff0; - IcePoint mCenterCoeff1; - IcePoint mExtentsCoeff1; - // Leaf description - IcePoint mLeafVerts[3]; //!< Triangle vertices - udword mLeafIndex; //!< Triangle index - // Settings - bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false) - bool mFullPrimBoxTest; //!< Perform full Primitive-BV tests (true) or SAT-lite tests (false) - // Internal methods - - // Standard AABB trees - void _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1); - // Quantized AABB trees - void _Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const IcePoint& a, const IcePoint& Pa, const IcePoint& b, const IcePoint& Pb); - // No-leaf AABB trees - void _CollideTriBox(const AABBNoLeafNode* b); - void _CollideBoxTri(const AABBNoLeafNode* b); - void _Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b); - // Quantized no-leaf AABB trees - void _CollideTriBox(const AABBQuantizedNoLeafNode* b); - void _CollideBoxTri(const AABBQuantizedNoLeafNode* b); - void _Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b); - // Overlap tests - void PrimTest(udword id0, udword id1); - inline_ void PrimTestTriIndex(udword id1); - inline_ void PrimTestIndexTri(udword id0); - - inline_ BOOL BoxBoxOverlap(const IcePoint& ea, const IcePoint& ca, const IcePoint& eb, const IcePoint& cb); - inline_ BOOL TriBoxOverlap(const IcePoint& center, const IcePoint& extents); - inline_ BOOL TriTriOverlap(const IcePoint& V0, const IcePoint& V1, const IcePoint& V2, const IcePoint& U0, const IcePoint& U1, const IcePoint& U2); - // Init methods - void InitQuery(const Matrix4x4* world0=null, const Matrix4x4* world1=null); - bool CheckTemporalCoherence(Pair* cache); - - inline_ BOOL Setup(const MeshInterface* mi0, const MeshInterface* mi1) - { - mIMesh0 = mi0; - mIMesh1 = mi1; - - if(!mIMesh0 || !mIMesh1) return FALSE; - - return TRUE; - } - }; - -#endif // __OPC_TREECOLLIDER_H__ |