OPCODE/OPC_OBBCollider.h

   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 an OBB collider.
  12  *      \file           OPC_OBBCollider.h
  13  *      \author         Pierre Terdiman
  14  *      \date           January, 1st, 2002
  15  */
  16 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  17
  18 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  19 // Include Guard
  20 #ifndef __OPC_OBBCOLLIDER_H__
  21 #define __OPC_OBBCOLLIDER_H__
  22
  23         struct OPCODE_API OBBCache : VolumeCache
  24         {
  25                                         OBBCache() : FatCoeff(1.1f)
  26                                         {
  27                                                 FatBox.mCenter.Zero();
  28                                                 FatBox.mExtents.Zero();
  29                                                 FatBox.mRot.Identity();
  30                                         }
  31
  32                 // Cached faces signature
  33                 OBB                             FatBox;         //!< Box used when performing the query resulting in cached faces
  34                 // User settings
  35                 float                   FatCoeff;       //!< extents multiplier used to create a fat box
  36         };
  37
  38         class OPCODE_API OBBCollider : public VolumeCollider
  39         {
  40                 public:
  41                 // Constructor / Destructor
  42                                                                                         OBBCollider();
  43                 virtual                                                         ~OBBCollider();
  44
  45                 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  46                 /**
  47                  *      Generic collision query for generic OPCODE models. After the call, access the results:
  48                  *      - with GetContactStatus()
  49                  *      - with GetNbTouchedPrimitives()
  50                  *      - with GetTouchedPrimitives()
  51                  *
  52                  *      \param          cache                   [in/out] a box cache
  53                  *      \param          box                             [in] collision OBB in local space
  54                  *      \param          model                   [in] Opcode model to collide with
  55                  *      \param          worldb                  [in] OBB's world matrix, or null
  56                  *      \param          worldm                  [in] model's world matrix, or null
  57                  *      \return         true if success
  58                  *      \warning        SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
  59                  */
  60                 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  61                                                         bool                    Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
  62
  63                 // Settings
  64
  65                 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  66                 /**
  67                  *      Settings: select between full box-box tests or "SAT-lite" tests (where Class III axes are discarded)
  68                  *      \param          flag            [in] true for full tests, false for coarse tests
  69                  */
  70                 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  71                 inline_                         void                    SetFullBoxBoxTest(bool flag)    { mFullBoxBoxTest = flag;       }
  72
  73                 // Settings
  74
  75                 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  76                 /**
  77                  *      Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.
  78                  *      \return         null if everything is ok, else a string describing the problem
  79                  */
  80                 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  81                 override(Collider)      const char*             ValidateSettings();
  82
  83                 protected:
  84                 // Precomputed data
  85                                                         Matrix3x3               mAR;                            //!< Absolute rotation matrix
  86                                                         Matrix3x3               mRModelToBox;           //!< Rotation from model space to obb space
  87                                                         Matrix3x3               mRBoxToModel;           //!< Rotation from obb space to model space
  88                                                         Point                   mTModelToBox;           //!< Translation from model space to obb space
  89                                                         Point                   mTBoxToModel;           //!< Translation from obb space to model space
  90
  91                                                         Point                   mBoxExtents;
  92                                                         Point                   mB0;                            //!< - mTModelToBox + mBoxExtents
  93                                                         Point                   mB1;                            //!< - mTModelToBox - mBoxExtents
  94
  95                                                         float                   mBBx1;
  96                                                         float                   mBBy1;
  97                                                         float                   mBBz1;
  98
  99                                                         float                   mBB_1;
 100                                                         float                   mBB_2;
 101                                                         float                   mBB_3;
 102                                                         float                   mBB_4;
 103                                                         float                   mBB_5;
 104                                                         float                   mBB_6;
 105                                                         float                   mBB_7;
 106                                                         float                   mBB_8;
 107                                                         float                   mBB_9;
 108
 109                 // Leaf description
 110                                                         Point                   mLeafVerts[3];          //!< Triangle vertices
 111                 // Settings
 112                                                         bool                    mFullBoxBoxTest;        //!< Perform full BV-BV tests (true) or SAT-lite tests (false)
 113                 // Internal methods
 114                                                         void                    _Collide(const AABBCollisionNode* node);
 115                                                         void                    _Collide(const AABBNoLeafNode* node);
 116                                                         void                    _Collide(const AABBQuantizedNode* node);
 117                                                         void                    _Collide(const AABBQuantizedNoLeafNode* node);
 118                                                         void                    _CollideNoPrimitiveTest(const AABBCollisionNode* node);
 119                                                         void                    _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
 120                                                         void                    _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
 121                                                         void                    _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
 122                         // Overlap tests
 123                 inline_                         BOOL                    OBBContainsBox(const Point& bc, const Point& be);
 124                 inline_                         BOOL                    BoxBoxOverlap(const Point& extents, const Point& center);
 125                 inline_                         BOOL                    TriBoxOverlap();
 126                         // Init methods
 127                                                         BOOL                    InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
 128         };
 129
 130         class OPCODE_API HybridOBBCollider : public OBBCollider
 131         {
 132                 public:
 133                 // Constructor / Destructor
 134                                                                                         HybridOBBCollider();
 135                 virtual                                                         ~HybridOBBCollider();
 136
 137                                                         bool                    Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null);
 138                 protected:
 139                                                         Container               mTouchedBoxes;
 140         };
 141
 142 #endif // __OPC_OBBCOLLIDER_H__