collision_checking: collision_checking: collision.h Source File

00001 /*
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00034 
00038 #ifndef COLLISION_CHECKING_COLLISION_H
00039 #define COLLISION_CHECKING_COLLISION_H
00040 
00041 
00042 #include "collision_checking/collision_primitive.h"
00043 #include <iostream>
00044 
00046 namespace collision_checking
00047 {
00048 
00050 template<typename BV>
00051 int collide(const BVHModel<BV>& model1, const BVHModel<BV>& model2, BVH_CollideResult* res, BVHFrontList* front_list = NULL)
00052 {
00053   if(model1.build_state != BVH_BUILD_STATE_PROCESSED && model1.build_state != BVH_BUILD_STATE_UPDATED)
00054   {
00055     std::cerr << "BVH Error: Must finish BVH model construction before call collide()!" << std::endl;
00056     return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00057   }
00058 
00059   if(model2.build_state != BVH_BUILD_STATE_PROCESSED && model2.build_state != BVH_BUILD_STATE_UPDATED)
00060   {
00061     std::cerr << "BVH Error: Must finish BVH model construction before call collide()!" << std::endl;
00062     return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00063   }
00064 
00065   // currently only support the mesh-mesh collision
00066   if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType()!= BVH_MODEL_TRIANGLES)
00067   {
00068     std::cerr << "BVH Error: Collision only supported between two triangle models." << std::endl;
00069     return BVH_ERR_UNSUPPORTED_FUNCTION;
00070   }
00071 
00072 
00073   res->resetRecord();
00074 
00075   if(front_list && front_list->size() > 0)
00076     propagateBVHFrontList(model1.bvs, model2.bvs, model1.vertices, model2.vertices, model1.tri_indices, model2.tri_indices, res, front_list);
00077   else
00078     collideRecurse(model1.bvs, model2.bvs, 0, 0, model1.vertices, model2.vertices, model1.tri_indices, model2.tri_indices, res, front_list);
00079 
00080   return BVH_OK;
00081 }
00082 
00083 
00085 template<typename BV>
00086 int selfCollide(const BVHModel<BV>& model, BVH_CollideResult* res, BVHFrontList* front_list = NULL)
00087 {
00088   if(model.build_state != BVH_BUILD_STATE_PROCESSED && model.build_state != BVH_BUILD_STATE_UPDATED)
00089   {
00090     std::cerr << "BVH Error: Must finish BVH model construction before call selfCollide()!" << std::endl;
00091     return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00092   }
00093 
00094   // currently only support the mesh-mesh collision
00095   if(model.getModelType() != BVH_MODEL_TRIANGLES)
00096   {
00097     std::cerr << "BVH Error: Self collision only supported for a triangle model." << std::endl;
00098     return BVH_ERR_UNSUPPORTED_FUNCTION;
00099   }
00100 
00101   res->resetRecord();
00102 
00103   if(front_list && front_list->size() > 0)
00104     propogateBVHFrontList(model.bvs, model.bvs, model.vertices, model.vertices, model.tri_indices, model.tri_indices, res, front_list);
00105   else
00106     selfCollideRecurse(model.bvs, 0, model.vertices, model.tri_indices, res, front_list);
00107 
00108   return BVH_OK;
00109 }
00110 
00114 int collide(const BVHModel<OBB>& model1, const Vec3f R1[3], const Vec3f& T1,
00115             const BVHModel<OBB>& model2, const Vec3f R2[3], const Vec3f& T2, BVH_CollideResult* res, BVHFrontList* front_list = NULL);
00116 
00117 
00121 int collide(const BVHModel<RSS>& model1, const Vec3f R1[3], const Vec3f& T1,
00122             const BVHModel<RSS>& model2, const Vec3f R2[3], const Vec3f& T2, BVH_CollideResult* res, BVHFrontList* front_list = NULL);
00123 
00124 
00125 }
00126 
00127 #endif