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