#include <OPC_TreeCollider.h>

Inheritance diagram for AABBTreeCollider:

Public Member Functions
	AABBTreeCollider ()
bool	Collide (BVTCache &cache, const Matrix4x4 world0=null, const Matrix4x4 world1=null)
bool	Collide (const AABBCollisionTree tree0, const AABBCollisionTree tree1, const Matrix4x4 world0=null, const Matrix4x4 world1=null, Pair *cache=null)
bool	Collide (const AABBNoLeafTree tree0, const AABBNoLeafTree tree1, const Matrix4x4 world0=null, const Matrix4x4 world1=null, Pair *cache=null)
bool	Collide (const AABBQuantizedTree tree0, const AABBQuantizedTree tree1, const Matrix4x4 world0=null, const Matrix4x4 world1=null, Pair *cache=null)
bool	Collide (const AABBQuantizedNoLeafTree tree0, const AABBQuantizedNoLeafTree tree1, const Matrix4x4 world0=null, const Matrix4x4 world1=null, Pair *cache=null)
inline_ udword	GetNbBVBVTests () const
inline_ udword	GetNbBVPrimTests () const
inline_ udword	GetNbPairs () const
inline_ udword	GetNbPrimPrimTests () const
inline_ const Pair *	GetPairs () const
	override (Collider) HRP_COLLISION_EXPORT const char *ValidateSettings()
void	setCollisionPairInserter (hrp::CollisionPairInserterBase *collisionPairInserter)
inline_ void	SetFullBoxBoxTest (bool flag)
inline_ void	SetFullPrimBoxTest (bool flag)
virtual	~AABBTreeCollider ()
Protected Member Functions
void	_Collide (const AABBCollisionNode b0, const AABBCollisionNode b1)
void	_Collide (const AABBQuantizedNode b0, const AABBQuantizedNode b1, const Point &a, const Point &Pa, const Point &b, const Point &Pb)
void	_Collide (const AABBNoLeafNode a, const AABBNoLeafNode b)
void	_Collide (const AABBQuantizedNoLeafNode a, const AABBQuantizedNoLeafNode b)
void	_CollideBoxTri (const AABBNoLeafNode *b)
void	_CollideBoxTri (const AABBQuantizedNoLeafNode *b)
void	_CollideTriBox (const AABBNoLeafNode *b)
void	_CollideTriBox (const AABBQuantizedNoLeafNode *b)
inline_ BOOL	BoxBoxOverlap (const Point &ea, const Point &ca, const Point &eb, const Point &cb)
bool	CheckTemporalCoherence (Pair *cache)
HRP_COLLISION_EXPORT void	InitQuery (const Matrix4x4 world0=null, const Matrix4x4 world1=null)
void	PrimTest (udword id0, udword id1)
inline_ void	PrimTestIndexTri (udword id0)
inline_ void	PrimTestTriIndex (udword id1)
inline_ BOOL	Setup (const MeshInterface mi0, const MeshInterface mi1)
inline_ BOOL	TriBoxOverlap (const Point &center, const Point &extents)
BOOL	TriTriOverlap (const Point &V0, const Point &V1, const Point &V2, const Point &U0, const Point &U1, const Point &U2)
Protected Attributes
hrp::CollisionPairInserterBase *	collisionPairInserter
Matrix3x3	mAR
	Absolute rotation matrix.
Point	mCenterCoeff0
Point	mCenterCoeff1
Point	mExtentsCoeff0
Point	mExtentsCoeff1
bool	mFullBoxBoxTest
	Perform full BV-BV tests (true) or SAT-lite tests (false)
bool	mFullPrimBoxTest
	Perform full Primitive-BV tests (true) or SAT-lite tests (false)
udword	mId0
udword	mId1
const MeshInterface *	mIMesh0
	User-defined mesh interface for object0.
const MeshInterface *	mIMesh1
	User-defined mesh interface for object1.
udword	mLeafIndex
	Triangle index.
Point	mLeafVerts [3]
	Triangle vertices.
udword	mNbBVBVTests
	Number of BV-BV tests.
udword	mNbBVPrimTests
	Number of BV-Primitive tests.
udword	mNbPrimPrimTests
	Number of Primitive-Primitive tests.
const AABBCollisionNode *	mNowNode0
const AABBCollisionNode *	mNowNode1
Container	mPairs
	Pairs of colliding primitives.
Matrix3x3	mR0to1
	Rotation from object0 to object1.
Matrix3x3	mR1to0
	Rotation from object1 to object0.
Point	mT0to1
	Translation from object0 to object1.
Point	mT1to0
	Translation from object1 to object0.

Detailed Description

Contains an AABB tree collider. This class performs a collision test between two AABB trees.

Author:: Pierre Terdiman

Version:: 1.3

Date:: March, 20, 2001

Definition at line 70 of file OPC_TreeCollider.h.

Constructor & Destructor Documentation

AABBTreeCollider::AABBTreeCollider ( )

virtual AABBTreeCollider::~AABBTreeCollider ( ) [virtual]

Member Function Documentation

void AABBTreeCollider::_Collide	(	const AABBCollisionNode *	b0,
		const AABBCollisionNode *	b1
	)		`[protected]`

void AABBTreeCollider::_Collide	(	const AABBQuantizedNode *	b0,
		const AABBQuantizedNode *	b1,
		const Point &	a,
		const Point &	Pa,
		const Point &	b,
		const Point &	Pb
	)		`[protected]`

void AABBTreeCollider::_Collide	(	const AABBNoLeafNode *	a,
		const AABBNoLeafNode *	b
	)		`[protected]`

void AABBTreeCollider::_Collide	(	const AABBQuantizedNoLeafNode *	a,
		const AABBQuantizedNoLeafNode *	b
	)		`[protected]`

void AABBTreeCollider::_CollideBoxTri ( const AABBNoLeafNode * b ) [protected]

void AABBTreeCollider::_CollideBoxTri ( const AABBQuantizedNoLeafNode * b ) [protected]

void AABBTreeCollider::_CollideTriBox ( const AABBNoLeafNode * b ) [protected]

void AABBTreeCollider::_CollideTriBox ( const AABBQuantizedNoLeafNode * b ) [protected]

inline_ BOOL AABBTreeCollider::BoxBoxOverlap	(	const Point &	ea,
		const Point &	ca,
		const Point &	eb,
		const Point &	cb
	)		`[protected]`

OBB-OBB overlap test using the separating axis theorem.

original code by Gomez / Gamasutra (similar to Gottschalk's one in RAPID)
optimized for AABB trees by computing the rotation matrix once (SOLID-fashion)
the fabs matrix is precomputed as well and epsilon-tweaked (RAPID-style, we found this almost mandatory)
Class III axes can be disabled... (SOLID & Intel fashion)
...or enabled to perform some profiling
CPU comparisons used when appropriate
lazy evaluation sometimes saves some work in case of early exits (unlike SOLID)

Parameters:

ea	[in] extents from box A
ca	[in] center from box A
eb	[in] extents from box B
cb	[in] center from box B

Returns:: true if boxes overlap

Definition at line 19 of file OPC_BoxBoxOverlap.h.

bool AABBTreeCollider::CheckTemporalCoherence ( Pair * cache ) [protected]

bool AABBTreeCollider::Collide	(	BVTCache &	cache,
		const Matrix4x4 *	world0 = `null`,
		const Matrix4x4 *	world1 = `null`
	)

Generic collision query for generic OPCODE models. After the call, access the results with:

Parameters:

cache	[in] collision cache for model pointers and a colliding pair of primitives
world0	[in] world matrix for first object, or null
world1	[in] world matrix for second object, or null

Returns:: true if success

Warning:: SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.

bool AABBTreeCollider::Collide	(	const AABBCollisionTree *	tree0,
		const AABBCollisionTree *	tree1,
		const Matrix4x4 *	world0 = `null`,
		const Matrix4x4 *	world1 = `null`,
		Pair *	cache = `null`
	)

bool AABBTreeCollider::Collide	(	const AABBNoLeafTree *	tree0,
		const AABBNoLeafTree *	tree1,
		const Matrix4x4 *	world0 = `null`,
		const Matrix4x4 *	world1 = `null`,
		Pair *	cache = `null`
	)

bool AABBTreeCollider::Collide	(	const AABBQuantizedTree *	tree0,
		const AABBQuantizedTree *	tree1,
		const Matrix4x4 *	world0 = `null`,
		const Matrix4x4 *	world1 = `null`,
		Pair *	cache = `null`
	)

bool AABBTreeCollider::Collide	(	const AABBQuantizedNoLeafTree *	tree0,
		const AABBQuantizedNoLeafTree *	tree1,
		const Matrix4x4 *	world0 = `null`,
		const Matrix4x4 *	world1 = `null`,
		Pair *	cache = `null`
	)

inline_ udword AABBTreeCollider::GetNbBVBVTests ( ) const [inline]

Stats: gets the number of BV-BV overlap tests after a collision query.

See also:: GetNbPrimPrimTests(); GetNbBVPrimTests()

Returns:: the number of BV-BV tests performed during last query

Definition at line 135 of file OPC_TreeCollider.h.

inline_ udword AABBTreeCollider::GetNbBVPrimTests ( ) const [inline]

Stats: gets the number of BV-Triangle overlap tests after a collision query.

See also:: GetNbBVBVTests(); GetNbPrimPrimTests()

Returns:: the number of BV-Triangle tests performed during last query

Definition at line 155 of file OPC_TreeCollider.h.

inline_ udword AABBTreeCollider::GetNbPairs ( ) const [inline]

Gets the number of contacts after a collision query.

See also:: GetContactStatus(); GetPairs()

Returns:: the number of contacts / colliding pairs.

Definition at line 167 of file OPC_TreeCollider.h.

inline_ udword AABBTreeCollider::GetNbPrimPrimTests ( ) const [inline]

Stats: gets the number of Triangle-Triangle overlap tests after a collision query.

See also:: GetNbBVBVTests(); GetNbBVPrimTests()

Returns:: the number of Triangle-Triangle tests performed during last query

Definition at line 145 of file OPC_TreeCollider.h.

inline_ const Pair* AABBTreeCollider::GetPairs ( ) const [inline]

Gets the pairs of colliding triangles after a collision query.

See also:: GetContactStatus(); GetNbPairs()

Returns:: the list of colliding pairs (triangle indices)

Definition at line 177 of file OPC_TreeCollider.h.

HRP_COLLISION_EXPORT void AABBTreeCollider::InitQuery	(	const Matrix4x4 *	world0 = `null`,
		const Matrix4x4 *	world1 = `null`
	)		`[protected]`

AABBTreeCollider::override ( Collider ) const

Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider.

Returns:: null if everything is ok, else a string describing the problem

void AABBTreeCollider::PrimTest	(	udword	id0,
		udword	id1
	)		`[protected]`

inline_ void AABBTreeCollider::PrimTestIndexTri ( udword id0 ) [protected]

inline_ void AABBTreeCollider::PrimTestTriIndex ( udword id1 ) [protected]

void AABBTreeCollider::setCollisionPairInserter ( hrp::CollisionPairInserterBase * collisionPairInserter ) [inline]

Definition at line 77 of file OPC_TreeCollider.h.

inline_ void AABBTreeCollider::SetFullBoxBoxTest ( bool flag ) [inline]

Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded)

Parameters:

flag	[in] true for full tests, false for coarse tests

See also:: SetFullPrimBoxTest(bool flag)

Definition at line 114 of file OPC_TreeCollider.h.

inline_ void AABBTreeCollider::SetFullPrimBoxTest ( bool flag ) [inline]

Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded)

Parameters:

flag	[in] true for full tests, false for coarse tests

See also:: SetFullBoxBoxTest(bool flag)

Definition at line 123 of file OPC_TreeCollider.h.

inline_ BOOL AABBTreeCollider::Setup	(	const MeshInterface *	mi0,
		const MeshInterface *	mi1
	)		`[inline, protected]`

Definition at line 247 of file OPC_TreeCollider.h.

inline_ BOOL AABBTreeCollider::TriBoxOverlap	(	const Point &	center,
		const Point &	extents
	)		`[protected]`

Triangle-Box overlap test using the separating axis theorem. This is the code from Tomas M�ller, a bit optimized:

with some more lazy evaluation (faster path on PC)
with a tiny bit of assembly
with "SAT-lite" applied if needed
and perhaps with some more minor modifs...

Parameters:

center	[in] box center
extents	[in] box extents

Returns:: true if triangle & box overlap

Definition at line 118 of file OPC_TriBoxOverlap.h.

BOOL AABBTreeCollider::TriTriOverlap	(	const Point &	V0,
		const Point &	V1,
		const Point &	V2,
		const Point &	U0,
		const Point &	U1,
		const Point &	U2
	)		`[protected]`

Triangle/triangle intersection test routine, by Tomas Moller, 1997. See article "A Fast Triangle-Triangle Intersection Test", Journal of Graphics Tools, 2(2), 1997

Updated June 1999: removed the divisions -- a little faster now! Updated October 1999: added {} to CROSS and SUB macros

int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3], float U0[3],float U1[3],float U2[3])

Parameters:

V0	[in] triangle 0, vertex 0
V1	[in] triangle 0, vertex 1
V2	[in] triangle 0, vertex 2
U0	[in] triangle 1, vertex 0
U1	[in] triangle 1, vertex 1
U2	[in] triangle 1, vertex 2