Public Member Functions | Protected Member Functions | Protected Attributes
Opcode::RayCollider Class Reference

#include <Opcode.h>

Inheritance diagram for Opcode::RayCollider:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool Collide (const Ray &world_ray, const Model &model, const Matrix4x4 *world=null, udword *cache=null)
bool Collide (const Ray &world_ray, const AABBTree *tree, Container &box_indices)
inline_ udword GetNbIntersections () const
inline_ udword GetNbRayBVTests () const
inline_ udword GetNbRayPrimTests () const
 override (Collider) const char *ValidateSettings()
 RayCollider ()
inline_ void SetCulling (bool flag)
inline_ void SetHitCallback (HitCallback cb)
inline_ void SetMaxDist (float max_dist=MAX_FLOAT)
inline_ void SetUserData (void *user_data)
virtual ~RayCollider ()

Protected Member Functions

void _RayStab (const AABBCollisionNode *node)
void _RayStab (const AABBNoLeafNode *node)
void _RayStab (const AABBQuantizedNode *node)
void _RayStab (const AABBQuantizedNoLeafNode *node)
void _RayStab (const AABBTreeNode *node, Container &box_indices)
void _SegmentStab (const AABBCollisionNode *node)
void _SegmentStab (const AABBNoLeafNode *node)
void _SegmentStab (const AABBQuantizedNode *node)
void _SegmentStab (const AABBQuantizedNoLeafNode *node)
void _SegmentStab (const AABBTreeNode *node, Container &box_indices)
BOOL InitQuery (const Ray &world_ray, const Matrix4x4 *world=null, udword *face_id=null)
inline_ BOOL RayAABBOverlap (const Point &center, const Point &extents)
inline_ BOOL RayTriOverlap (const Point &vert0, const Point &vert1, const Point &vert2)
inline_ BOOL SegmentAABBOverlap (const Point &center, const Point &extents)

Protected Attributes

Point mCenterCoeff
bool mCulling
 Stab culled faces or not.
Point mData
Point mData2
Point mDir
 Ray direction (normalized)
Point mExtentsCoeff
Point mFDir
 fabsf(mDir)
HitCallback mHitCallback
 Callback used to record a hit.
float mMaxDist
 Valid segment on the ray.
udword mNbIntersections
 Number of valid intersections.
udword mNbRayBVTests
 Number of Ray-BV tests.
udword mNbRayPrimTests
 Number of Ray-Primitive tests.
Point mOrigin
 Ray origin.
CollisionFace mStabbedFace
 Current stabbed face.
voidmUserData
 User-defined data.

Detailed Description

Definition at line 64 of file Opcode.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 205 of file OPC_RayCollider.cpp.

Destructor.

Definition at line 228 of file OPC_RayCollider.cpp.


Member Function Documentation

Recursive stabbing query for normal AABB trees.

Parameters:
node[in] current collision node

Definition at line 633 of file OPC_RayCollider.cpp.

Recursive stabbing query for no-leaf AABB trees.

Parameters:
node[in] current collision node

Definition at line 688 of file OPC_RayCollider.cpp.

Recursive stabbing query for quantized AABB trees.

Parameters:
node[in] current collision node

Definition at line 658 of file OPC_RayCollider.cpp.

Recursive stabbing query for quantized no-leaf AABB trees.

Parameters:
node[in] current collision node

Definition at line 714 of file OPC_RayCollider.cpp.

void RayCollider::_RayStab ( const AABBTreeNode node,
Container box_indices 
) [protected]

Recursive stabbing query for vanilla AABB trees.

Parameters:
node[in] current collision node
box_indices[out] indices of stabbed boxes

Definition at line 746 of file OPC_RayCollider.cpp.

Recursive stabbing query for normal AABB trees.

Parameters:
node[in] current collision node

Definition at line 495 of file OPC_RayCollider.cpp.

Recursive stabbing query for no-leaf AABB trees.

Parameters:
node[in] current collision node

Definition at line 550 of file OPC_RayCollider.cpp.

Recursive stabbing query for quantized AABB trees.

Parameters:
node[in] current collision node

Definition at line 520 of file OPC_RayCollider.cpp.

Recursive stabbing query for quantized no-leaf AABB trees.

Parameters:
node[in] current collision node

Definition at line 576 of file OPC_RayCollider.cpp.

void RayCollider::_SegmentStab ( const AABBTreeNode node,
Container box_indices 
) [protected]

Recursive stabbing query for vanilla AABB trees.

Parameters:
node[in] current collision node
box_indices[out] indices of stabbed boxes

Definition at line 608 of file OPC_RayCollider.cpp.

bool RayCollider::Collide ( const Ray world_ray,
const Model model,
const Matrix4x4 world = null,
udword cache = null 
)

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

Parameters:
world_ray[in] stabbing ray in world space
model[in] Opcode model to collide with
world[in] model's world matrix, or null
cache[in] a possibly cached face index, or null
Returns:
true if success
Warning:
SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.

Definition at line 264 of file OPC_RayCollider.cpp.

bool RayCollider::Collide ( const Ray world_ray,
const AABBTree tree,
Container box_indices 
)

Stabbing query for vanilla AABB trees.

Parameters:
world_ray[in] stabbing ray in world space
tree[in] AABB tree
box_indices[out] indices of stabbed boxes
Returns:
true if success

Definition at line 465 of file OPC_RayCollider.cpp.

Stats: gets the number of intersection found after a collision query. Can be used for in/out tests.

See also:
GetNbRayBVTests()
GetNbRayPrimTests()
Returns:
the number of valid intersections during last query

Definition at line 169 of file Opcode.h.

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

See also:
GetNbRayPrimTests()
GetNbIntersections()
Returns:
the number of Ray-BV tests performed during last query

Definition at line 148 of file Opcode.h.

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

See also:
GetNbRayBVTests()
GetNbIntersections()
Returns:
the number of Ray-Triangle tests performed during last query

Definition at line 158 of file Opcode.h.

BOOL RayCollider::InitQuery ( const Ray world_ray,
const Matrix4x4 world = null,
udword face_id = null 
) [protected]

Initializes a stabbing query :

  • reset stats & contact status
  • compute ray in local space
  • check temporal coherence
Parameters:
world_ray[in] stabbing ray in world space
world[in] object's world matrix, or null
face_id[in] index of previously stabbed triangle
Returns:
TRUE if we can return immediately
Warning:
SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only.

Definition at line 339 of file OPC_RayCollider.cpp.

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
inline_ BOOL Opcode::RayCollider::RayAABBOverlap ( const Point center,
const Point extents 
) [protected]
inline_ BOOL Opcode::RayCollider::RayTriOverlap ( const Point vert0,
const Point vert1,
const Point vert2 
) [protected]
inline_ BOOL Opcode::RayCollider::SegmentAABBOverlap ( const Point center,
const Point extents 
) [protected]
inline_ void Opcode::RayCollider::SetCulling ( bool  flag) [inline]

Settings: enable or disable backface culling.

Parameters:
flag[in] true to enable backface culling
See also:
SetClosestHit(bool flag)
SetMaxDist(float max_dist)
SetDestination(StabbedFaces* sf)

Definition at line 111 of file Opcode.h.

Definition at line 125 of file Opcode.h.

inline_ void Opcode::RayCollider::SetMaxDist ( float  max_dist = MAX_FLOAT) [inline]

Settings: sets the higher distance bound.

Parameters:
max_dist[in] higher distance bound. Default = maximal value, for ray queries (else segment)
See also:
SetClosestHit(bool flag)
SetCulling(bool flag)
SetDestination(StabbedFaces* sf)

Definition at line 122 of file Opcode.h.

Definition at line 126 of file Opcode.h.


Member Data Documentation

Definition at line 199 of file Opcode.h.

Stab culled faces or not.

Definition at line 206 of file Opcode.h.

Definition at line 184 of file Opcode.h.

Definition at line 184 of file Opcode.h.

Ray direction (normalized)

Definition at line 182 of file Opcode.h.

Definition at line 200 of file Opcode.h.

fabsf(mDir)

Definition at line 183 of file Opcode.h.

Callback used to record a hit.

Definition at line 188 of file Opcode.h.

float Opcode::RayCollider::mMaxDist [protected]

Valid segment on the ray.

Definition at line 202 of file Opcode.h.

Number of valid intersections.

Definition at line 197 of file Opcode.h.

Number of Ray-BV tests.

Definition at line 194 of file Opcode.h.

Number of Ray-Primitive tests.

Definition at line 195 of file Opcode.h.

Ray origin.

Definition at line 181 of file Opcode.h.

Current stabbed face.

Definition at line 186 of file Opcode.h.

User-defined data.

Definition at line 189 of file Opcode.h.


The documentation for this class was generated from the following files:


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:44:02