SSVTreeCollider Class Reference

collision detector based on SSV(Sphere Swept Volume) More...

#include <SSVTreeCollider.h>

Inheritance diagram for SSVTreeCollider:

List of all members.

Public Member Functions
bool	Collide (BVTCache &cache, double tolerance, const Matrix4x4 *world0=null, const Matrix4x4 *world1=null)
	detect collision between links.
bool	Distance (BVTCache &cache, float &minD, Point &point0, Point &point1, const Matrix4x4 *world0=null, const Matrix4x4 *world1=null)
	compute the minimum distance and the closest points
	SSVTreeCollider ()
	constructor
	~SSVTreeCollider ()
	destructor
Protected Member Functions
float	PrimDist (udword id0, udword id1, Point &point0, Point &point1)
	compute distance between primitives(triangles)
float	SsvSsvDist (const AABBCollisionNode *b0, const AABBCollisionNode *b1)
	compute distance between SSV(Swept Sphere Volume)s
Private Member Functions
bool	_Collide (const AABBCollisionNode *b0, const AABBCollisionNode *b1, double tolerance)
void	_Distance (const AABBCollisionNode *b0, const AABBCollisionNode *b1, float &minD, Point &point0, Point &point1)
bool	Collide (const AABBCollisionTree *tree0, const AABBCollisionTree *tree1, const Matrix4x4 *world0, const Matrix4x4 *world1, Pair *cache, double tolerance)
void	Distance (const AABBCollisionTree *tree0, const AABBCollisionTree *tree1, const Matrix4x4 *world0, const Matrix4x4 *world1, Pair *cache, float &minD, Point &point0, Point &point1)
float	LssLssDist (float r0, const Point &point0, const Point &point1, float r1, const Point &point2, const Point &point3)
	compute distance between LSS(Line Swept Sphere)s
float	LssPssDist (float r0, const Point &point0, const Point &point1, float r1, const Point &center0)
	compute distance between PSS(Point Swept Sphere) and LSS(Line Swept Sphere)
float	PssLssDist (float r0, const Point &center0, float r1, const Point &point0, const Point &point1)
	compute distance between PSS(Point Swept Sphere) and LSS(Line Swept Sphere)
float	PssPssDist (float r0, const Point &center0, float r1, const Point &center1)
	compute distance between PSS(Point Swept Sphere)

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Detailed Description

collision detector based on SSV(Sphere Swept Volume)

Definition at line 12 of file SSVTreeCollider.h.

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Constructor & Destructor Documentation

SSVTreeCollider::SSVTreeCollider

(

)

constructor

Definition at line 7 of file SSVTreeCollider.cpp.

SSVTreeCollider::~SSVTreeCollider

(

)

[inline]

destructor

Definition at line 22 of file SSVTreeCollider.h.

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Member Function Documentation

bool SSVTreeCollider::_Collide	(	const AABBCollisionNode *	b0,
		const AABBCollisionNode *	b1,
		double	tolerance
	)		[private]

Definition at line 205 of file SSVTreeCollider.cpp.

void SSVTreeCollider::_Distance	(	const AABBCollisionNode *	b0,
		const AABBCollisionNode *	b1,
		float &	minD,
		Point &	point0,
		Point &	point1
	)		[private]

Definition at line 166 of file SSVTreeCollider.cpp.

bool SSVTreeCollider::Collide	(	BVTCache &	cache,
		double	tolerance,
		const Matrix4x4 *	world0 = null,
		const Matrix4x4 *	world1 = null
	)

detect collision between links.

Parameters:

cache
tolerance	If distance between links is smaller than this value, it is regarded as collision
world0	transformation of the first link
world1	transformation of the second link

Returns:

true if collision is detected, false otherwise

Definition at line 72 of file SSVTreeCollider.cpp.

bool SSVTreeCollider::Collide	(	const AABBCollisionTree *	tree0,
		const AABBCollisionTree *	tree1,
		const Matrix4x4 *	world0,
		const Matrix4x4 *	world1,
		Pair *	cache,
		double	tolerance
	)		[private]

Definition at line 89 of file SSVTreeCollider.cpp.

bool SSVTreeCollider::Distance	(	BVTCache &	cache,
		float &	minD,
		Point &	point0,
		Point &	point1,
		const Matrix4x4 *	world0 = null,
		const Matrix4x4 *	world1 = null
	)

compute the minimum distance and the closest points

Parameters:

cache
minD	the minimum distance
point0	the closest point on the first link
point1	the closest point on the second link
world0	transformation of the first link
world1	transformation of the second link

Returns:

true if computed successfully, false otherwise

Definition at line 11 of file SSVTreeCollider.cpp.

void SSVTreeCollider::Distance	(	const AABBCollisionTree *	tree0,
		const AABBCollisionTree *	tree1,
		const Matrix4x4 *	world0,
		const Matrix4x4 *	world1,
		Pair *	cache,
		float &	minD,
		Point &	point0,
		Point &	point1
	)		[private]

Definition at line 30 of file SSVTreeCollider.cpp.

float SSVTreeCollider::LssLssDist	(	float	r0,
		const Point &	point0,
		const Point &	point1,
		float	r1,
		const Point &	point2,
		const Point &	point3
	)		[private]

compute distance between LSS(Line Swept Sphere)s

Parameters:

r0	radius of the first LSS
point0	one of end points of the first line segment
point1	the other end points of the first line segment
r1	radius of the second LSS
point2	one of end points of the second line segment
point3	the other end points of the second line segment

Returns:

distance

Definition at line 157 of file SSVTreeCollider.cpp.

float SSVTreeCollider::LssPssDist	(	float	r0,
		const Point &	point0,
		const Point &	point1,
		float	r1,
		const Point &	center0
	)		[private]

compute distance between PSS(Point Swept Sphere) and LSS(Line Swept Sphere)

Parameters:

r0	radius of the PSS
point0	one of end points of the line segment
point1	the other end points of the line segment
r1	radius of the LSS
center0	center of the PSS

Returns:

distance

Definition at line 148 of file SSVTreeCollider.cpp.

float SSVTreeCollider::PrimDist	(	udword	id0,
		udword	id1,
		Point &	point0,
		Point &	point1
	)		[protected]

compute distance between primitives(triangles)

Parameters:

id0	index of the first primitive
id1	index of the second primitive
point0	the closest point on the first primitive
point1	the closest point on the second primitive

Returns:

the minimum distance

Definition at line 242 of file SSVTreeCollider.cpp.

float SSVTreeCollider::PssLssDist	(	float	r0,
		const Point &	center0,
		float	r1,
		const Point &	point0,
		const Point &	point1
	)		[private]

compute distance between PSS(Point Swept Sphere) and LSS(Line Swept Sphere)

Parameters:

r0	radius of the PSS
center0	center of the PSS
r1	radius of the LSS
point0	one of end points of the line segment
point1	the other end points of the line segment

Returns:

distance

Definition at line 140 of file SSVTreeCollider.cpp.

float SSVTreeCollider::PssPssDist	(	float	r0,
		const Point &	center0,
		float	r1,
		const Point &	center1
	)		[private]

compute distance between PSS(Point Swept Sphere)

Parameters:

r0	radius of the first sphere
center0	center of the first sphere
r1	radius of the first sphere
center1	center of the first sphere

Returns:

distance

Definition at line 133 of file SSVTreeCollider.cpp.

float SSVTreeCollider::SsvSsvDist	(	const AABBCollisionNode *	b0,
		const AABBCollisionNode *	b1
	)		[protected]

compute distance between SSV(Swept Sphere Volume)s

Parameters:

b0	collision node from the left tree
b1	collision node from the right tree
return	distance

Definition at line 110 of file SSVTreeCollider.cpp.

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

• SSVTreeCollider.h
• SSVTreeCollider.cpp