181 lines
6.8 KiB
C++
181 lines
6.8 KiB
C++
/* ColDet - C++ 3D Collision Detection Library
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* Copyright (C) 2000 Amir Geva
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Library General Public
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* License as published by the Free Software Foundation; either
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* version 2 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Library General Public License for more details.
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*
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* You should have received a copy of the GNU Library General Public
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* License along with this library; if not, write to the
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* Free Software Foundation, Inc., 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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* Any comments, questions and bug reports send to:
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* photon@photoneffect.com
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*
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* Or visit the home page: http://photoneffect.com/coldet/
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*/
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/** \file coldet.h
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3D Collision Detection
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Interface for the library.
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Isolated from any implementation details.
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*/
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#ifndef H_COLDET
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#define H_COLDET
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#ifndef EXPORT
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#define EXPORT
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#endif
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/** Collision Model. Will represent the mesh to be tested for
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collisions. It has to be notified of all triangles, via
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addTriangle()
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After all triangles are added, a call to finalize() will
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process the information and prepare for collision tests.
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Call collision() to check for a collision
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Note: Transformations must not contain scaling.
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*/
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class CollisionModel3D
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{
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public:
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virtual ~CollisionModel3D() {}
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/** Optional: Optimization for construction speed.
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If you know the number of triangles. */
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virtual void setTriangleNumber(int num) = 0;
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/** Use any of the forms of this functions to enter the coordinates
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of the model's triangles. */
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virtual void addTriangle(float x1, float y1, float z1,
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float x2, float y2, float z2,
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float x3, float y3, float z3) = 0;
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virtual void addTriangle(float v1[3], float v2[3], float v3[3]) = 0;
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/** All triangles have been added, process model. */
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virtual void finalize() = 0;
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/** The the current affine matrix for the model.
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See transform.txt for format information */
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virtual void setTransform(float m[16]) = 0;
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/** Check for collision with another model.
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Do not mix model types here.
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MaxProcessingTime determines the maximum time in milliseconds
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to check for collision. If a rejection is not found by that
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time, the function will return true.
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AccuracyDepth is not yet supported.
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other_transform allows overriding the other model's
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transform, by supplying an alternative one.
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This can be useful when testing a model against itself
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with different orientations.
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*/
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virtual bool collision(CollisionModel3D* other,
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int AccuracyDepth=-1,
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int MaxProcessingTime=0,
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float* other_transform=0) = 0;
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/** Returns true if the ray given in world space coordinates
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intersects with the object.
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getCollidingTriangles() and getCollisionPoint() can be
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used to retrieve information about a collision.
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If closest if false, the first triangle that collides with
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the ray is used. Otherwise the closest one will be used.
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Closest triangle searching will slow the test considerably.
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The default ray is a standard infinite ray. However, using
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segmin and segmax you can define a line segment along the
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ray.
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*/
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virtual bool rayCollision(float origin[3],
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float direction[3],
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bool closest=false,
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float segmin=0.0f,
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float segmax=3.4e+38F) = 0;
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/** Returns true if the given sphere collides with the model.
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getCollidingTriangles() and getCollisionPoint() can be
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used to retrieve information about a collision.
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*/
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virtual bool sphereCollision(float origin[3],
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float radius) = 0;
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/** Retrieve the pair of triangles that collided.
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Only valid after a call to collision() that returned true.
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t1 is this model's triangle and t2 is the other one.
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In case of ray or sphere collision, only t1 will be valid.
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The coordinates will be in _this_ model's coordinate space,
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unless ModelSpace is false, in which case, coordinates will
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be transformed by the model's current transform to world space.
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*/
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virtual bool getCollidingTriangles(float t1[9], float t2[9], bool ModelSpace=true) = 0;
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/** Retrieve the pair of triangles indices that collided.
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Only valid after a call to collision() that returned true.
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t1 belongs to _this_ model, while t2 is in the other one.
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*/
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virtual bool getCollidingTriangles(int& t1, int& t2) = 0;
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/** Retrieve the detected collision point.
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Only valid after a call to collision()
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that returned true.
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The coordinates will be in _this_ model's coordinate space,
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unless ModelSpace is false, in which case, coordinates will
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be transformed by the model's current transform to world space.
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*/
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virtual bool getCollisionPoint(float p[3], bool ModelSpace=true) = 0;
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};
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/** Timeout exception class. Exception will be thrown if
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the detection algorithm could not complete within
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the given time limit. */
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class TimeoutExpired {};
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/** Inconsistency exception. Exception will be thrown if
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the model is inconsistent.
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Examples:
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Checking for collisions before calling finalize()
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Trying to add triangles after calling finalize() */
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class Inconsistency {};
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/** Create a new collision model object.
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Use delete when finished with it.
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Setting Static to true indicates that the model does not
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move a lot, and certain calculations can be done every time
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its transform changes instead of every collision test.
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*/
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EXPORT CollisionModel3D* newCollisionModel3D(bool Static=false);
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//////////////////////////////////////////////
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// Utility Functions
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//////////////////////////////////////////////
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/** Checks for intersection between a ray and a sphere.
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center, radius define the sphere
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origin, direction define the ray
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point will contain point of intersection, if one is found.
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*/
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bool SphereRayCollision(float center[3], float radius,
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float origin[3], float direction[3],
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float point[3]);
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/** Checks for intersection between 2 spheres. */
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bool SphereSphereCollision(float c1[3], float r1,
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float c2[3], float r2);
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#endif // H_COLDET
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