#include <Opcode.h>

Inheritance diagram for Opcode::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

Definition at line 70 of file Opcode.h.

Constructor & Destructor Documentation

AABBTreeCollider::AABBTreeCollider ( )

Constructor.

Definition at line 49 of file OPC_TreeCollider.cpp.

AABBTreeCollider::~AABBTreeCollider ( ) [virtual]

Destructor.

Definition at line 67 of file OPC_TreeCollider.cpp.

Member Function Documentation

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

Recursive collision query for normal AABB trees.

Parameters:

b0	[in] collision node from first tree
b1	[in] collision node from second tree

Definition at line 518 of file OPC_TreeCollider.cpp.

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

Recursive collision query for quantized AABB trees.

Parameters:

b0	[in] collision node from first tree
b1	[in] collision node from second tree
a	[in] extent from box A
Pa	[in] center from box A
b	[in] extent from box B
Pb	[in] center from box B

Definition at line 804 of file OPC_TreeCollider.cpp.

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

Recursive collision query for no-leaf AABB trees.

Parameters:

a	[in] collision node from first tree
b	[in] collision node from second tree

Definition at line 709 of file OPC_TreeCollider.cpp.

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

Recursive collision query for quantized no-leaf AABB trees.

Parameters:

a	[in] collision node from first tree
b	[in] collision node from second tree

Definition at line 914 of file OPC_TreeCollider.cpp.

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

Recursive collision of a leaf node from B and a branch from A.

Parameters:

b	[in] collision node from first tree

Definition at line 674 of file OPC_TreeCollider.cpp.

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

Recursive collision of a leaf node from B and a quantized branch from A.

Parameters:

b	[in] collision node from first tree
leaf	[in] leaf triangle from second tree

Definition at line 885 of file OPC_TreeCollider.cpp.

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

Recursive collision of a leaf node from A and a branch from B.

Parameters:

b	[in] collision node from second tree

Definition at line 650 of file OPC_TreeCollider.cpp.

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

Recursive collision of a leaf node from A and a quantized branch from B.

Parameters:

leaf	[in] leaf triangle from first tree
b	[in] collision node from second tree

Definition at line 856 of file OPC_TreeCollider.cpp.

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

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

Takes advantage of temporal coherence.

Parameters:

cache [in] cache for a pair of previously colliding primitives

Returns:: true if we can return immediately

Warning:: only works for "First Contact" mode

Definition at line 316 of file OPC_TreeCollider.cpp.

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.

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
world1	[in] world matrix for second object

Returns:: true if success

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

Definition at line 97 of file OPC_TreeCollider.cpp.

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

Collision query for normal AABB trees.

Parameters:

tree0	[in] AABB tree from first object
tree1	[in] AABB tree from second object
world0	[in] world matrix for first object
world1	[in] world matrix for second object
cache	[in/out] cache for a pair of previously colliding primitives

Returns:: true if success

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

Definition at line 349 of file OPC_TreeCollider.cpp.

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

Collision query for no-leaf AABB trees.

Parameters:

tree0	[in] AABB tree from first object
tree1	[in] AABB tree from second object
world0	[in] world matrix for first object
world1	[in] world matrix for second object
cache	[in/out] cache for a pair of previously colliding primitives

Returns:: true if success

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

Definition at line 377 of file OPC_TreeCollider.cpp.

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

Collision query for quantized AABB trees.

Parameters:

tree0	[in] AABB tree from first object
tree1	[in] AABB tree from second object
world0	[in] world matrix for first object
world1	[in] world matrix for second object
cache	[in/out] cache for a pair of previously colliding primitives

Returns:: true if success

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

Definition at line 405 of file OPC_TreeCollider.cpp.

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

Collision query for quantized no-leaf AABB trees.

Parameters:

tree0	[in] AABB tree from first object
tree1	[in] AABB tree from second object
world0	[in] world matrix for first object
world1	[in] world matrix for second object
cache	[in/out] cache for a pair of previously colliding primitives

Returns:: true if success

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

Definition at line 448 of file OPC_TreeCollider.cpp.

inline_ udword Opcode::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 Opcode.h.

inline_ udword Opcode::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 Opcode.h.

inline_ udword Opcode::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 Opcode.h.

inline_ udword Opcode::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 Opcode.h.

inline_ const Pair* Opcode::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 Opcode.h.

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

Initializes a collision query :

reset stats & contact status
setup matrices

Parameters:

world0	[in] world matrix for first object
world1	[in] world matrix for second object

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

Definition at line 241 of file OPC_TreeCollider.cpp.

Opcode::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]`

Leaf-leaf test for two primitive indices.

Parameters:

id0	[in] index from first leaf-triangle
id1	[in] index from second leaf-triangle

Definition at line 571 of file OPC_TreeCollider.cpp.

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

Leaf-leaf test for a previously fetched triangle from tree B (in A's space) and a new leaf from A.

Parameters:

id0	[in] leaf-triangle index from tree A

Definition at line 628 of file OPC_TreeCollider.cpp.

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

Leaf-leaf test for a previously fetched triangle from tree A (in B's space) and a new leaf from B.

Parameters:

id1	[in] leaf-triangle index from tree B

Definition at line 606 of file OPC_TreeCollider.cpp.

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

Definition at line 77 of file Opcode.h.

inline_ void Opcode::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 Opcode.h.

inline_ void Opcode::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 Opcode.h.

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

Definition at line 247 of file Opcode.h.

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

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