SSVTreeCollider.h

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#ifndef __SSV_TREE_COLLIDER_H__
#define __SSV_TREE_COLLIDER_H__

#include "config.h"
#include "Opcode/Opcode.h"

using namespace Opcode;

class HRP_COLLISION_EXPORT SSVTreeCollider : public AABBTreeCollider {
public:
    SSVTreeCollider();

    ~SSVTreeCollider(){};

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

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

protected:
     float SsvSsvDist(const AABBCollisionNode* b0, const AABBCollisionNode *b1);

     float PrimDist(udword id0, udword id1, Point& point0, Point& point1);

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

    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);
    
    bool _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1,
                  double tolerance);
    float PssPssDist(float r0, const Point& center0, float r1, const Point& center1);

    float PssLssDist(float r0, const Point& center0, 
                     float r1, const Point& point0, const Point& point1);

    float LssPssDist(float r0, const Point& point0, const Point& point1,
                     float r1, const Point& center0);

    float LssLssDist(float r0, const Point& point0, const Point& point1,
                     float r1, const Point& point2, const Point& point3);
};

#endif