OPCODE/OPC_SphereCollider.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 a sphere collider.
  12  *      \file           OPC_SphereCollider.h
  13  *      \author         Pierre Terdiman
  14  *      \date           June, 2, 2001
  15  */
  16 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  17
  18 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  19 // Include Guard
  20 #ifndef __OPC_SPHERECOLLIDER_H__
  21 #define __OPC_SPHERECOLLIDER_H__
  22
  23         struct OPCODE_API SphereCache : VolumeCache
  24         {
  25                                         SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f)        {}
  26                                         ~SphereCache()                                                                                                                          {}
  27
  28                 // Cached faces signature
  29                 Point           Center;         //!< Sphere used when performing the query resulting in cached faces
  30                 float           FatRadius2;     //!< Sphere used when performing the query resulting in cached faces
  31                 // User settings
  32                 float           FatCoeff;       //!< mRadius2 multiplier used to create a fat sphere
  33         };
  34
  35         class OPCODE_API SphereCollider : public VolumeCollider
  36         {
  37                 public:
  38                 // Constructor / Destructor
  39                                                                                         SphereCollider();
  40                 virtual                                                         ~SphereCollider();
  41
  42                 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  43                 /**
  44                  *      Generic collision query for generic OPCODE models. After the call, access the results:
  45                  *      - with GetContactStatus()
  46                  *      - with GetNbTouchedPrimitives()
  47                  *      - with GetTouchedPrimitives()
  48                  *
  49                  *      \param          cache                   [in/out] a sphere cache
  50                  *      \param          sphere                  [in] collision sphere in local space
  51                  *      \param          model                   [in] Opcode model to collide with
  52                  *      \param          worlds                  [in] sphere's world matrix, or null
  53                  *      \param          worldm                  [in] model's world matrix, or null
  54                  *      \return         true if success
  55                  *      \warning        SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
  56                  */
  57                 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  58                                                         bool                    Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
  59
  60                 //
  61                                                         bool                    Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree);
  62                 protected:
  63                 // Sphere in model space
  64                                                         Point                   mCenter;                        //!< Sphere center
  65                                                         float                   mRadius2;                       //!< Sphere radius squared
  66                 // Internal methods
  67                                                         void                    _Collide(const AABBCollisionNode* node);
  68                                                         void                    _Collide(const AABBNoLeafNode* node);
  69                                                         void                    _Collide(const AABBQuantizedNode* node);
  70                                                         void                    _Collide(const AABBQuantizedNoLeafNode* node);
  71                                                         void                    _Collide(const AABBTreeNode* node);
  72                                                         void                    _CollideNoPrimitiveTest(const AABBCollisionNode* node);
  73                                                         void                    _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
  74                                                         void                    _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
  75                                                         void                    _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
  76                         // Overlap tests
  77                 inline_                         BOOL                    SphereContainsBox(const Point& bc, const Point& be);
  78                 inline_                         BOOL                    SphereAABBOverlap(const Point& center, const Point& extents);
  79                                                         BOOL                    SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2);
  80                         // Init methods
  81                                                         BOOL                    InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
  82         };
  83
  84         class OPCODE_API HybridSphereCollider : public SphereCollider
  85         {
  86                 public:
  87                 // Constructor / Destructor
  88                                                                                         HybridSphereCollider();
  89                 virtual                                                         ~HybridSphereCollider();
  90
  91                                                         bool                    Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
  92                 protected:
  93                                                         Container               mTouchedBoxes;
  94         };
  95
  96 #endif // __OPC_SPHERECOLLIDER_H__