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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/*
* OPCODE - Optimized Collision Detection
* Copyright (C) 2001 Pierre Terdiman
* Homepage: http://www.codercorner.com/Opcode.htm
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Contains code for a sphere collider.
* \file OPC_SphereCollider.h
* \author Pierre Terdiman
* \date June, 2, 2001
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Include Guard
#ifndef __OPC_SPHERECOLLIDER_H__
#define __OPC_SPHERECOLLIDER_H__
struct OPCODE_API SphereCache : VolumeCache
{
SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f) {}
~SphereCache() {}
// Cached faces signature
IcePoint Center; //!< Sphere used when performing the query resulting in cached faces
float FatRadius2; //!< Sphere used when performing the query resulting in cached faces
// User settings
float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere
};
class OPCODE_API SphereCollider : public VolumeCollider
{
public:
// Constructor / Destructor
SphereCollider();
virtual ~SphereCollider();
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Generic collision query for generic OPCODE models. After the call, access the results:
* - with GetContactStatus()
* - with GetNbTouchedPrimitives()
* - with GetTouchedPrimitives()
*
* \param cache [in/out] a sphere cache
* \param sphere [in] collision sphere in local space
* \param model [in] Opcode model to collide with
* \param worlds [in] sphere's world matrix, or null
* \param worldm [in] model's world matrix, or null
* \return true if success
* \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
//
bool Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree);
protected:
// Sphere in model space
IcePoint mCenter; //!< Sphere center
float mRadius2; //!< Sphere radius squared
// Internal methods
void _Collide(const AABBCollisionNode* node);
void _Collide(const AABBNoLeafNode* node);
void _Collide(const AABBQuantizedNode* node);
void _Collide(const AABBQuantizedNoLeafNode* node);
void _Collide(const AABBTreeNode* node);
void _CollideNoPrimitiveTest(const AABBCollisionNode* node);
void _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
void _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
// Overlap tests
inline_ BOOL SphereContainsBox(const IcePoint& bc, const IcePoint& be);
inline_ BOOL SphereAABBOverlap(const IcePoint& center, const IcePoint& extents);
BOOL SphereTriOverlap(const IcePoint& vert0, const IcePoint& vert1, const IcePoint& vert2);
// Init methods
BOOL InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
};
class OPCODE_API HybridSphereCollider : public SphereCollider
{
public:
// Constructor / Destructor
HybridSphereCollider();
virtual ~HybridSphereCollider();
bool Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
protected:
Container mTouchedBoxes;
};
#endif // __OPC_SPHERECOLLIDER_H__
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