#include <OPC_AABBCollider.h>

Inheritance diagram for AABBCollider:

Public Member Functions
	AABBCollider ()

virtual	~AABBCollider ()

bool	Collide (AABBCache &cache, const CollisionAABB &box, const Model &model)

bool	Collide (AABBCache &cache, const CollisionAABB &box, const AABBTree *tree)

Public Member Functions inherited from VolumeCollider
	VolumeCollider ()

virtual	~VolumeCollider ()=0

inline_ udword	GetNbTouchedPrimitives () const

inline_ const udword *	GetTouchedPrimitives () const

inline_ udword	GetNbVolumeBVTests () const

inline_ udword	GetNbVolumePrimTests () const

	override (Collider) const char *ValidateSettings()

Public Member Functions inherited from Collider
	Collider ()

virtual	~Collider ()

inline_ BOOL	GetContactStatus () const

inline_ BOOL	FirstContactEnabled () const

inline_ BOOL	TemporalCoherenceEnabled () const

inline_ BOOL	ContactFound () const

inline_ BOOL	TemporalHit () const

inline_ BOOL	SkipPrimitiveTests () const

inline_ void	SetFirstContact (bool flag)

inline_ void	SetTemporalCoherence (bool flag)

inline_ void	SetPrimitiveTests (bool flag)

virtual const char *	ValidateSettings ()=0

Protected Member Functions
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)

inline_ bool	AABBContainsBox (const Point &bc, const Point &be)

inline_ bool	AABBAABBOverlap (const Point &b, const Point &Pb)
	A special version for 2 axis-aligned boxes. More...

inline_ bool	TriBoxOverlap ()
	...and another one, jeez More...

bool	InitQuery (AABBCache &cache, const CollisionAABB &box)

Protected Member Functions inherited from VolumeCollider
void	_Dump (const AABBCollisionNode *node)

void	_Dump (const AABBNoLeafNode *node)

void	_Dump (const AABBQuantizedNode *node)

void	_Dump (const AABBQuantizedNoLeafNode *node)

	override (Collider) inline_ void InitQuery()

inline_ BOOL	IsCacheValid (VolumeCache &cache)

Protected Member Functions inherited from Collider
inline_ BOOL	Setup (const BaseModel *model)

virtual inline_ void	InitQuery ()

Protected Attributes
CollisionAABB	mBox
	Query box in (center, extents) form. More...

Point	mMin
	Query box min point. More...

Point	mMax
	Query box max point. More...

Point	mLeafVerts [3]
	Triangle vertices. More...

Protected Attributes inherited from VolumeCollider
Container *	mTouchedPrimitives
	List of touched primitives. More...

Point	mCenterCoeff

Point	mExtentsCoeff

udword	mNbVolumeBVTests
	Number of Volume-BV tests. More...

udword	mNbVolumePrimTests
	Number of Volume-Primitive tests. More...

Protected Attributes inherited from Collider
udword	mFlags
	Bit flags. More...

const BaseModel *	mCurrentModel
	Current model for collision query (owner of touched faces) More...

const MeshInterface *	mIMesh
	User-defined mesh interface. More...

Detailed Description

Contains an AABB-vs-tree collider.

Author: Pierre Terdiman

Version: 1.3

Date: January, 1st, 2002

Definition at line 37 of file OPC_AABBCollider.h.

Constructor & Destructor Documentation

AABBCollider::AABBCollider ( )

virtual AABBCollider::~AABBCollider ( )

virtual

Member Function Documentation

void AABBCollider::_Collide ( const AABBCollisionNode * node)

protected

void AABBCollider::_Collide ( const AABBNoLeafNode * node)

protected

void AABBCollider::_Collide ( const AABBQuantizedNode * node)

protected

void AABBCollider::_Collide ( const AABBQuantizedNoLeafNode * node)

protected

void AABBCollider::_Collide ( const AABBTreeNode * node)

protected

void AABBCollider::_CollideNoPrimitiveTest ( const AABBCollisionNode * node)

protected

void AABBCollider::_CollideNoPrimitiveTest ( const AABBNoLeafNode * node)

protected

void AABBCollider::_CollideNoPrimitiveTest ( const AABBQuantizedNode * node)

protected

void AABBCollider::_CollideNoPrimitiveTest ( const AABBQuantizedNoLeafNode * node)

protected

inline_ bool AABBCollider::AABBAABBOverlap	(	const Point &	b,
		const Point &	Pb
	)

protected

A special version for 2 axis-aligned boxes.

Definition at line 112 of file OPC_BoxBoxOverlap.h.

References FALSE, GREATER, mBox, CollisionAABB::mCenter, CollisionAABB::mExtents, VolumeCollider::mNbVolumeBVTests, TRUE, Point::x, Point::y, and Point::z.

 {
     // Stats
     mNbVolumeBVTests++;
 
     float tx = mBox.mCenter.x - center.x;   float ex = extents.x + mBox.mExtents.x; if(GREATER(tx, ex)) return FALSE;
     float ty = mBox.mCenter.y - center.y;   float ey = extents.y + mBox.mExtents.y; if(GREATER(ty, ey)) return FALSE;
     float tz = mBox.mCenter.z - center.z;   float ez = extents.z + mBox.mExtents.z; if(GREATER(tz, ez)) return FALSE;
 
     return TRUE;
 }

inline_ bool AABBCollider::AABBContainsBox	(	const Point &	bc,
		const Point &	be
	)

protected

bool AABBCollider::Collide	(	AABBCache &	cache,
		const CollisionAABB &	box,
		const Model &	model
	)

Generic collision query for generic OPCODE models. After the call, access the results:

Parameters

cache	[in/out] a box cache
box	[in] collision AABB in world space
model	[in] Opcode model to collide with

Returns: true if success

Warning: SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.

bool AABBCollider::Collide	(	AABBCache &	cache,
		const CollisionAABB &	box,
		const AABBTree *	tree
	)

bool AABBCollider::InitQuery	(	AABBCache &	cache,
		const CollisionAABB &	box
	)

protected

inline_ bool AABBCollider::TriBoxOverlap ( )

protected

...and another one, jeez

Definition at line 259 of file OPC_TriBoxOverlap.h.

References center, d, FALSE, FINDMINMAX, IMPLEMENT_CLASS3_TESTS, max(), mBox, CollisionAABB::mCenter, CollisionAABB::mExtents, min(), mLeafVerts, VolumeCollider::mNbVolumePrimTests, planeBoxOverlap(), TRUE, Point::x, Point::y, and Point::z.

 {
     // Stats
     mNbVolumePrimTests++;
 
     // Hook
     const Point& center     = mBox.mCenter;
     const Point& extents    = mBox.mExtents;
 
     // use separating axis theorem to test overlap between triangle and box 
     // need to test for overlap in these directions: 
     // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle 
     //    we do not even need to test these) 
     // 2) normal of the triangle 
     // 3) crossproduct(edge from tri, {x,y,z}-directin) 
     //    this gives 3x3=9 more tests 
 
     // move everything so that the boxcenter is in (0,0,0) 
     Point v0, v1, v2;
     v0.x = mLeafVerts[0].x - center.x;
     v1.x = mLeafVerts[1].x - center.x;
     v2.x = mLeafVerts[2].x - center.x;
 
     // First, test overlap in the {x,y,z}-directions
 #ifdef OPC_USE_FCOMI
     // find min, max of the triangle in x-direction, and test for overlap in X
     if(FCMin3(v0.x, v1.x, v2.x)>extents.x)  return FALSE;
     if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE;
 
     // same for Y
     v0.y = mLeafVerts[0].y - center.y;
     v1.y = mLeafVerts[1].y - center.y;
     v2.y = mLeafVerts[2].y - center.y;
 
     if(FCMin3(v0.y, v1.y, v2.y)>extents.y)  return FALSE;
     if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE;
 
     // same for Z
     v0.z = mLeafVerts[0].z - center.z;
     v1.z = mLeafVerts[1].z - center.z;
     v2.z = mLeafVerts[2].z - center.z;
 
     if(FCMin3(v0.z, v1.z, v2.z)>extents.z)  return FALSE;
     if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE;
 #else
     float min,max;
     // Find min, max of the triangle in x-direction, and test for overlap in X
     FINDMINMAX(v0.x, v1.x, v2.x, min, max);
     if(min>extents.x || max<-extents.x) return FALSE;
 
     // Same for Y
     v0.y = mLeafVerts[0].y - center.y;
     v1.y = mLeafVerts[1].y - center.y;
     v2.y = mLeafVerts[2].y - center.y;
 
     FINDMINMAX(v0.y, v1.y, v2.y, min, max);
     if(min>extents.y || max<-extents.y) return FALSE;
 
     // Same for Z
     v0.z = mLeafVerts[0].z - center.z;
     v1.z = mLeafVerts[1].z - center.z;
     v2.z = mLeafVerts[2].z - center.z;
 
     FINDMINMAX(v0.z, v1.z, v2.z, min, max);
     if(min>extents.z || max<-extents.z) return FALSE;
 #endif
     // 2) Test if the box intersects the plane of the triangle
     // compute plane equation of triangle: normal*x+d=0
     // ### could be precomputed since we use the same leaf triangle several times
     const Point e0 = v1 - v0;
     const Point e1 = v2 - v1;
     const Point normal = e0 ^ e1;
     const float d = -normal|v0;
     if(!planeBoxOverlap(normal, d, extents)) return FALSE;
 
     // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV)
     {
         IMPLEMENT_CLASS3_TESTS
     }
     return TRUE;
 }

Member Data Documentation

CollisionAABB AABBCollider::mBox

protected

Query box in (center, extents) form.

Definition at line 62 of file OPC_AABBCollider.h.

Referenced by AABBAABBOverlap(), and TriBoxOverlap().

Point AABBCollider::mLeafVerts[3]

protected

Triangle vertices.

Definition at line 66 of file OPC_AABBCollider.h.

Referenced by TriBoxOverlap().

Point AABBCollider::mMax

protected

Query box max point.

Definition at line 64 of file OPC_AABBCollider.h.

Point AABBCollider::mMin

protected

Query box min point.

Definition at line 63 of file OPC_AABBCollider.h.

The documentation for this class was generated from the following files:

src/cmd/collide2/OPC_AABBCollider.h
src/cmd/collide2/OPC_BoxBoxOverlap.h
src/cmd/collide2/OPC_TriBoxOverlap.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation