mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-01-19 20:24:49 +00:00
83 lines
2.9 KiB
C++
83 lines
2.9 KiB
C++
//-----------------------------------------------------------------------------
|
|
// Copyright (c) 2012 GarageGames, LLC
|
|
//
|
|
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
// of this software and associated documentation files (the "Software"), to
|
|
// deal in the Software without restriction, including without limitation the
|
|
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
|
|
// sell copies of the Software, and to permit persons to whom the Software is
|
|
// furnished to do so, subject to the following conditions:
|
|
//
|
|
// The above copyright notice and this permission notice shall be included in
|
|
// all copies or substantial portions of the Software.
|
|
//
|
|
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
|
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
|
|
// IN THE SOFTWARE.
|
|
//-----------------------------------------------------------------------------
|
|
|
|
#ifndef _GJK_H_
|
|
#define _GJK_H_
|
|
|
|
#ifndef _MMATH_H_
|
|
#include "math/mMath.h"
|
|
#endif
|
|
#ifndef _TVECTOR_H_
|
|
#include "core/util/tVector.h"
|
|
#endif
|
|
#ifndef _CONVEX_H_
|
|
#include "collision/convex.h"
|
|
#endif
|
|
|
|
class Convex;
|
|
struct CollisionStateList;
|
|
struct Collision;
|
|
|
|
//----------------------------------------------------------------------------
|
|
|
|
struct GjkCollisionState: public CollisionState
|
|
{
|
|
/// @name Temporary values
|
|
/// @{
|
|
Point3F p[4]; ///< support points of object A in local coordinates
|
|
Point3F q[4]; ///< support points of object B in local coordinates
|
|
VectorF y[4]; ///< support points of A - B in world coordinates
|
|
|
|
S32 bits; ///< identifies current simplex
|
|
S32 all_bits; ///< all_bits = bits | last_bit
|
|
F32 det[16][4]; ///< cached sub-determinants
|
|
F32 dp[4][4]; ///< cached dot products
|
|
|
|
S32 last; ///< identifies last found support point
|
|
S32 last_bit; ///< last_bit = 1<<last
|
|
/// @}
|
|
|
|
///
|
|
void compute_det();
|
|
bool valid(int s);
|
|
void compute_vector(int bits, VectorF& v);
|
|
bool closest(VectorF& v);
|
|
bool degenerate(const VectorF& w);
|
|
void nextBit();
|
|
void swap();
|
|
void reset(const MatrixF& a2w, const MatrixF& b2w);
|
|
|
|
GjkCollisionState();
|
|
~GjkCollisionState();
|
|
|
|
void set(Convex* a,Convex* b,const MatrixF& a2w, const MatrixF& b2w);
|
|
|
|
void getCollisionInfo(const MatrixF& mat, Collision* info);
|
|
void getClosestPoints(Point3F& p1, Point3F& p2);
|
|
bool intersect(const MatrixF& a2w, const MatrixF& b2w);
|
|
F32 distance(const MatrixF& a2w, const MatrixF& b2w, const F32 dontCareDist,
|
|
const MatrixF* w2a = NULL, const MatrixF* _w2b = NULL);
|
|
};
|
|
|
|
|
|
#endif
|