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

#include <SSVTreeCollider.h>

Inheritance diagram for SSVTreeCollider:

Public Member Functions
bool	Collide (BVTCache &cache, double tolerance, const Matrix4x4 world0=null, const Matrix4x4 world1=null)
	detect collision between links. More...

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 More...

	SSVTreeCollider ()
	constructor More...

	~SSVTreeCollider ()
	destructor More...

Public Member Functions inherited from Opcode::AABBTreeCollider
	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 ()

Public Member Functions inherited from Opcode::Collider
	Collider ()

inline_ BOOL	ContactFound () const

inline_ BOOL	FirstContactEnabled () const

inline_ BOOL	GetContactStatus () const

inline_ void	SetFirstContact (bool flag)

inline_ void	SetPrimitiveTests (bool flag)

inline_ void	SetTemporalCoherence (bool flag)

inline_ BOOL	SkipPrimitiveTests () const

inline_ BOOL	TemporalCoherenceEnabled () const

inline_ BOOL	TemporalHit () const

virtual const char *	ValidateSettings ()=0

virtual	~Collider ()

Protected Member Functions
float	PrimDist (udword id0, udword id1, Point &point0, Point &point1)
	compute distance between primitives(triangles) More...

float	SsvSsvDist (const AABBCollisionNode b0, const AABBCollisionNode b1)
	compute distance between SSV(Swept Sphere Volume)s More...

Protected Member Functions inherited from Opcode::AABBTreeCollider
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 Member Functions inherited from Opcode::Collider
virtual inline_ void	InitQuery ()

inline_ BOOL	Setup (const BaseModel *model)

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 More...

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) More...

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) More...

float	PssPssDist (float r0, const Point &center0, float r1, const Point &center1)
	compute distance between PSS(Point Swept Sphere) More...

Additional Inherited Members
Protected Attributes inherited from Opcode::AABBTreeCollider
hrp::CollisionPairInserterBase *	collisionPairInserter

Matrix3x3	mAR
	Absolute rotation matrix. More...

Point	mCenterCoeff0

Point	mCenterCoeff1

Point	mExtentsCoeff0

Point	mExtentsCoeff1

bool	mFullBoxBoxTest
	Perform full BV-BV tests (true) or SAT-lite tests (false) More...

bool	mFullPrimBoxTest
	Perform full Primitive-BV tests (true) or SAT-lite tests (false) More...

udword	mId0

udword	mId1

const MeshInterface *	mIMesh0
	User-defined mesh interface for object0. More...

const MeshInterface *	mIMesh1
	User-defined mesh interface for object1. More...

udword	mLeafIndex
	Triangle index. More...

Point	mLeafVerts [3]
	Triangle vertices. More...

udword	mNbBVBVTests
	Number of BV-BV tests. More...

udword	mNbBVPrimTests
	Number of BV-Primitive tests. More...

udword	mNbPrimPrimTests
	Number of Primitive-Primitive tests. More...

const AABBCollisionNode *	mNowNode0

const AABBCollisionNode *	mNowNode1

Container	mPairs
	Pairs of colliding primitives. More...

Matrix3x3	mR0to1
	Rotation from object0 to object1. More...

Matrix3x3	mR1to0
	Rotation from object1 to object0. More...

Point	mT0to1
	Translation from object0 to object1. More...

Point	mT1to0
	Translation from object1 to object0. More...

Protected Attributes inherited from Opcode::Collider
const BaseModel *	mCurrentModel
	Current model for collision query (owner of touched faces) More...

udword	mFlags
	Bit flags. More...

const MeshInterface *	mIMesh
	User-defined mesh interface. More...

Detailed Description

collision detector based on SSV(Sphere Swept Volume)

Definition at line 12 of file SSVTreeCollider.h.

Constructor & Destructor Documentation

◆ SSVTreeCollider()

SSVTreeCollider::SSVTreeCollider ( )

constructor

Definition at line 7 of file SSVTreeCollider.cpp.

◆ ~SSVTreeCollider()

SSVTreeCollider::~SSVTreeCollider ( )

inline

destructor

Definition at line 22 of file SSVTreeCollider.h.

Member Function Documentation

◆ _Collide()

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

private

Definition at line 205 of file SSVTreeCollider.cpp.

◆ _Distance()

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

private

Definition at line 166 of file SSVTreeCollider.cpp.

◆ Collide() [1/2]

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.

◆ Collide() [2/2]

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.

◆ Distance() [1/2]

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.

◆ Distance() [2/2]

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.

◆ LssLssDist()

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.

◆ LssPssDist()

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.

◆ PrimDist()

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.

◆ PssLssDist()

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.

◆ PssPssDist()

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.

◆ SsvSsvDist()

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.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SSVTreeCollider()

◆ ~SSVTreeCollider()

Member Function Documentation

◆ _Collide()

◆ _Distance()

◆ Collide() [1/2]

◆ Collide() [2/2]

◆ Distance() [1/2]

◆ Distance() [2/2]

◆ LssLssDist()

◆ LssPssDist()

◆ PrimDist()

◆ PssLssDist()

◆ PssPssDist()

◆ SsvSsvDist()