PF_API 0.52
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00001 00002 // Copyright (C) 2004-2011 Dylan Blair 00003 // 00004 // email: dblair@alumni.cs.utexas.edu 00005 // 00006 // This library is free software; you can redistribute it and/or 00007 // modify it under the terms of the GNU Lesser General Public 00008 // License as published by the Free Software Foundation; either 00009 // version 2.1 of the License, or (at your option) any later version. 00010 // 00011 // This library is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00014 // Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public 00017 // License along with this library; if not, write to the Free Software 00018 // Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00020 00021 #ifndef CDVOLUME_H 00022 #define CDVOLUME_H 00023 00024 #include "../Math_LIB/MMatrix3x3.h" 00025 00026 namespace OpenSkyNet { 00029 namespace CD { 00031 enum SHAPE_TYPE { SPHERE, BOX, PLANE }; 00032 00033 class Volume; 00034 00036 struct HitInfo { 00038 Volume* _collider; 00039 00040 float _hitSecs; 00041 00042 Math::Point<> _hitPos, _hitNormal; 00043 00044 HitInfo(Volume* collider_=0) : _collider(collider_), _hitSecs(Math::PSEUDO_INFINITY) {} 00045 }; 00046 00050 struct Shape { 00051 float _boundingRadius; 00052 00053 Shape(const float& boundingRadius_=0.0f) : _boundingRadius(boundingRadius_) {} 00054 00055 virtual ~Shape() {} 00056 00057 virtual SHAPE_TYPE getType() const = 0; 00058 00059 virtual float getDist(const Math::Point<>& thisCenter_, const Math::Matrix3x3& thisRot_, const Shape* otherShape_, 00060 const Math::Point<>& otherCenter_, const Math::Matrix3x3& otherRot_) const; 00061 00062 virtual bool getFirstIntersection(const Math::Point<>& thisCenter_, const Math::Matrix3x3& thisRot_, const Math::Point<>& thisVel_, const Shape* otherShape_, 00063 const Math::Point<>& otherCenter_, const Math::Matrix3x3& otherRot_, const Math::Point<>& otherVel_, HitInfo& hitInfo_) const; 00064 00069 virtual bool getClosestRayIntersection(const Math::Point<>& thisCenter_, const Math::Matrix3x3& thisRot_, 00070 const Math::Point<>& rayOrigin_, const Math::Point<>& rayDir_, 00071 Math::Point<>& hitPos_, float& t_, Math::Point<>& hitNormal_) const; 00072 00073 virtual void scale(const Math::Point<>& factor_) { UNUSED(factor_); } 00074 }; 00075 00076 struct Sphere : public Shape { 00077 Sphere(const float& boundingRadius_) : Shape(boundingRadius_) {} 00078 00079 virtual SHAPE_TYPE getType() const { return SPHERE; } 00080 }; 00081 00082 struct Box : public Shape { 00083 float _widthDiv2, _heightDiv2, _depthDiv2; 00084 00085 Box(const float& boundingRadius_, const float& width_, const float& height_, const float& depth_) : Shape(boundingRadius_), 00086 _widthDiv2(width_), _heightDiv2(height_), _depthDiv2(depth_) { _widthDiv2 /= 2; _heightDiv2 /= 2; _depthDiv2 /= 2; } 00087 00088 virtual SHAPE_TYPE getType() const { return BOX; } 00089 00090 inline Math::Point<> getDimensions() const { return Math::Point<>(_widthDiv2, _heightDiv2, _depthDiv2); } 00091 00093 virtual float getDist(const Math::Point<>& thisCenter_, const Math::Matrix3x3& thisRot_, const Shape* otherShape_, 00094 const Math::Point<>& otherCenter_, const Math::Matrix3x3& otherRot_) const; 00095 00096 virtual bool getFirstIntersection(const Math::Point<>& thisCenter_, const Math::Matrix3x3& thisRot_, const Math::Point<>& thisVel_, const Shape* otherShape_, 00097 const Math::Point<>& otherCenter_, const Math::Matrix3x3& otherRot_, const Math::Point<>& otherVel_, HitInfo& hitInfo_) const; 00098 00099 virtual void scale(const Math::Point<>& factor_); 00100 }; 00101 00102 struct Plane : public Shape { 00103 enum AXIS_ALIGNMENT { NONE, NEG_X, POS_X, NEG_Y, POS_Y, NEG_Z, POS_Z }; 00104 00105 Math::Point<> _n; 00106 00107 Plane(const Math::Point<>& n_) : _n(n_) {} 00108 00109 virtual SHAPE_TYPE getType() const { return PLANE; } 00110 00114 virtual float getDist(const Math::Point<>& thisCenter_, const Math::Matrix3x3& thisRot_, const Shape* otherShape_, 00115 const Math::Point<>& otherCenter_, const Math::Matrix3x3& otherRot_) const; 00116 00117 inline float getDist(const Math::Point<>& thisP_, const Math::Point<>& otherP_) const { 00118 Math::Point<> v(otherP_ - thisP_); 00119 return _n.getDot3(v); 00120 } 00121 00122 inline AXIS_ALIGNMENT getAxisAlignment() const { 00123 if (_n.equals(Math::g_xAxis,Math::CLOSE_TO_ZERO)) return POS_X; 00124 if (_n.equals(Math::g_yAxis,Math::CLOSE_TO_ZERO)) return POS_Y; 00125 if (_n.equals(Math::g_zAxis,Math::CLOSE_TO_ZERO)) return POS_Z; 00126 if (_n.equals(-Math::g_xAxis,Math::CLOSE_TO_ZERO)) return NEG_X; 00127 if (_n.equals(-Math::g_yAxis,Math::CLOSE_TO_ZERO)) return NEG_Y; 00128 if (_n.equals(-Math::g_zAxis,Math::CLOSE_TO_ZERO)) return NEG_Z; 00129 return NONE; 00130 } 00131 }; 00132 00134 #define COL_GROUP_HIT_ALL_HIT_BY_ALL 0xFFFFFFFF 00135 #define COL_GROUP_HIT_ALL_HIT_BY_NONE 0xFFFF0000 00136 #define COL_GROUP_HIT_NONE_HIT_BY_ALL 0x0000FFFF 00137 #define COL_GROUP_HIT_NONE_HIT_BY_NONE 0x00000000 00138 #define COL_GROUP_HIT_NONE_HIT_BY_1 0x00000001 00139 #define COL_GROUP_HIT_ALL_BUT_1_HIT_BY_NONE 0xFFFE0000 00140 #define COL_GROUP_HITTABLE_MASK 0x0000FFFF 00141 00142 class Collidable { 00143 Math::Point<> _center, _nonCollidingCenter; 00144 Math::Matrix3x3 _rot, _nonCollidingRot; 00145 void* _userPointer; 00146 Utils::uint _colGroup; 00147 public: 00148 Collidable(const Math::Point<>& center_=Math::g_origin, const Math::Matrix3x3& rot_=Math::g_identityMatrix3x3, 00149 void* userPointer_=0, Utils::uint colGroup_=COL_GROUP_HIT_ALL_HIT_BY_ALL) : _center(center_), 00150 _nonCollidingCenter(center_), _rot(rot_), _userPointer(userPointer_), _colGroup(colGroup_) {} 00151 00152 virtual ~Collidable() {} 00153 00154 inline void translate(const Math::Point<>& delta_) { _center += delta_; } 00155 00156 inline void setCenter(const Math::Point<>& center_) { _center = center_; } 00157 00158 inline Math::Point<> getCenter() const { return _center; } 00159 00165 inline void setNonColTransform(const Math::Point<>& center_, const Math::Matrix3x3& rot_) { 00166 _nonCollidingCenter = center_; 00167 _nonCollidingRot = rot_; 00168 } 00169 00171 inline Math::Point<> getNonColCenter() const { return _nonCollidingCenter; } 00172 inline Math::Matrix3x3 getNonColRot() const { return _nonCollidingRot; } 00173 00174 inline void setRot(const Math::Matrix3x3& rot_) { _rot = rot_; } 00175 00176 inline Math::Matrix3x3 getRot() const { return _rot; } 00177 00179 inline void setUserPointer(void* userPointer_) { _userPointer = userPointer_; } 00180 00182 inline void* getUserPointer() const { return _userPointer; } 00183 00191 inline Utils::uint canGroupHitMe(Utils::uint colGroup_) const { return (colGroup_ & ((_colGroup & COL_GROUP_HITTABLE_MASK) << 16)); } 00192 00194 inline Utils::uint getColGroup() const { return _colGroup; } 00195 00196 inline void setColGroup(Utils::uint colGroup_) { _colGroup = colGroup_; } 00197 00198 virtual Shape* getShape() = 0; 00199 00200 virtual const Shape* getShape() const = 0; 00201 00202 virtual SHAPE_TYPE getType() const { return getShape()->getType(); } 00203 00204 virtual float getDist(const Collidable* aCollidable_) const { 00205 return getShape()->getDist(_center, _rot, aCollidable_->getShape(), aCollidable_->getCenter(), aCollidable_->getRot()); 00206 } 00207 00208 virtual bool getFirstIntersection(const Math::Point<>& thisVel_, const Collidable* otherCollidable_, 00209 const Math::Point<>& otherVel_, HitInfo& hitInfo_) const { 00210 return getShape()->getFirstIntersection(_center, _rot, thisVel_, otherCollidable_->getShape(), 00211 otherCollidable_->getCenter(), otherCollidable_->getRot(), otherVel_, hitInfo_); 00212 } 00213 00215 virtual bool getClosestRayIntersection(const Math::Point<>& rayOrigin_, const Math::Point<>& rayDir_, 00216 Math::Point<>& hitPos_, float& t_, Math::Point<>& hitNormal_) const { 00217 return getShape()->getClosestRayIntersection(_center, _rot, rayOrigin_, rayDir_, hitPos_, t_, hitNormal_); 00218 } 00219 }; 00220 00221 class Volume : public Collidable { 00222 Shape* _shape; 00223 public: 00224 Volume(Shape* shape_, const Math::Point<>& center_=Math::g_origin, const Math::Matrix3x3& rot_=Math::g_identityMatrix3x3, 00225 void* userPointer_=0, Utils::uint colGroup_=COL_GROUP_HIT_ALL_HIT_BY_ALL) : Collidable(center_,rot_,userPointer_,colGroup_), 00226 _shape(shape_) {} 00227 00228 inline void setBoundingRadius(const float& boundingRadius_) { _shape->_boundingRadius = boundingRadius_; } 00229 00230 inline float getBoundingRadius() const { return _shape->_boundingRadius; } 00231 00232 virtual Shape* getShape() { return _shape; } 00233 00234 virtual const Shape* getShape() const { return _shape; } 00235 }; 00236 } 00237 } 00238 00239 #endif //CDVOLUME_H