Linderdaum Engine: Collision.cpp File Reference
Updated: Mon May 14 2012 05:02:25
Defines | Enumerations
Collision.cpp File Reference

Basic collision detection. More...

#include "Math/Collision.h"
#include "Math/LMath.h"
#include "Math/LPoly.h"
#include "Math/LHull.h"
#include "Math/LGeomUtils.h"

Defines

#define TEST_SEP_PLANE(PARAM_AxisName, PARAM_RelativeVal, PARAM_R0, PARAM_R1, PARAM_Normal)
#define TEST_SEP_AXIS(PARAM_AxisName, PARAM_DirA, PARAM_DirB, PARAM_RelativeVal, PARAM_R0, PARAM_R1)
#define BUILD_REFERENCE_POLY(PARAM_AxisName, PARAM_Height, PARAM_Extent0, PARAM_Extent1, PARAM_Axis0, PARAM_Axis1)
#define CHECK_INCIDENT_AXIS(PARAM_ICenter, PARAM_Normal, PARAM_V1, PARAM_V2, PARAM_Size1, PARAM_Size2)

Enumerations

enum  eBoxSeparatingAxis {
  S_AXIS_NONE = -1, S_AXIS_A0 = 0, S_AXIS_A1 = 1, S_AXIS_A2 = 2,
  S_AXIS_B0 = 3, S_AXIS_B1 = 4, S_AXIS_B2 = 5, S_AXIS_A0B0 = 6,
  S_AXIS_A0B1 = 7, S_AXIS_A0B2 = 8, S_AXIS_A1B0 = 9, S_AXIS_A1B1 = 10,
  S_AXIS_A1B2 = 11, S_AXIS_A2B0 = 12, S_AXIS_A2B1 = 13, S_AXIS_A2B2 = 14
}
 Possible axes for box-box separation. More...

Detailed Description

Basic collision detection.

Version:
0.5.93
Date:
09/10/2010
Author:
Viktor Latypov, 2010
Sergey Kosarevsky, 2010
support@linderdaum.com http://www.linderdaum.com

Define Documentation

#define BUILD_REFERENCE_POLY (   PARAM_AxisName,
  PARAM_Height,
  PARAM_Extent0,
  PARAM_Extent1,
  PARAM_Axis0,
  PARAM_Axis1 
)
Value:
case PARAM_AxisName : \
   {\
      ReferenceExtent0 = PARAM_Height;                         \
      ReferencePoly.FVertices[0] = - PARAM_Extent0 * PARAM_Axis0 - PARAM_Extent1 * PARAM_Axis1;    \
      ReferencePoly.FVertices[1] = + PARAM_Extent0 * PARAM_Axis0 - PARAM_Extent1 * PARAM_Axis1;    \
      ReferencePoly.FVertices[2] = + PARAM_Extent0 * PARAM_Axis0 + PARAM_Extent1 * PARAM_Axis1;    \
      ReferencePoly.FVertices[3] = - PARAM_Extent0 * PARAM_Axis0 + PARAM_Extent1 * PARAM_Axis1;    \
      break; \
   }
#define CHECK_INCIDENT_AXIS (   PARAM_ICenter,
  PARAM_Normal,
  PARAM_V1,
  PARAM_V2,
  PARAM_Size1,
  PARAM_Size2 
)
Value:
TmpVec = PARAM_ICenter;                   \
      Dist1 = DistanceToPlane( TmpVec, ReferenceCenter, ReferenceNormal);  \
                                 \
      if ( Dist > Dist1 )                     \
      {                          \
         IncidentCenter = TmpVec;               \
         IncidentNormal = PARAM_Normal;               \
         IncidentAxis1  = PARAM_V1;             \
         IncidentAxis2  = PARAM_V2;             \
         IncidentSize1  = PARAM_Size1;             \
         IncidentSize2  = PARAM_Size2;             \
         Dist = Dist1;                    \
      }
#define TEST_SEP_AXIS (   PARAM_AxisName,
  PARAM_DirA,
  PARAM_DirB,
  PARAM_RelativeVal,
  PARAM_R0,
  PARAM_R1 
)
Value:
TempAxis = PARAM_DirA .Cross( PARAM_DirB );     \
   AxisLen  = TempAxis.SqrLength();       \
                        \
   if ( AxisLen > Linderdaum::Math::EPSILON)           \
   {                    \
      R  = PARAM_RelativeVal;          \
      R0 = PARAM_R0;             \
      R1 = PARAM_R1;             \
                        \
      TmpDepth = R0 + R1 - fabs(R);       \
      if (TmpDepth < 0) return false;         \
                        \
      if (MaxDepth * AxisLen > TmpDepth )     \
      {                 \
         MaxDepth = TmpDepth / AxisLen;      \
         SeparatingAxis = PARAM_AxisName; \
                        \
         DirA = PARAM_DirA;         \
         DirB = PARAM_DirB;         \
                        \
         RelNormal = TempAxis;         \
         InvertNormal = (PARAM_RelativeVal < 0); \
      }                 \
   }
#define TEST_SEP_PLANE (   PARAM_AxisName,
  PARAM_RelativeVal,
  PARAM_R0,
  PARAM_R1,
  PARAM_Normal 
)
Value:
R  = fabs(PARAM_RelativeVal);       \
   R0 = PARAM_R0;             \
   R1 = PARAM_R1;             \
   /* If (R>R0+R1) Then there is no intersection */\
   TmpDepth = R0 + R1 - R;          \
   if (TmpDepth < 0) return false;         \
                     \
   if (MaxDepth > TmpDepth) {        \
      MaxDepth = TmpDepth;       \
      SeparatingAxis = PARAM_AxisName; \
      Normal = PARAM_Normal;        \
      InvertNormal = (PARAM_RelativeVal < 0);   \
   }

Enumeration Type Documentation

enum eBoxSeparatingAxis

Possible axes for box-box separation.

Enumerator:
S_AXIS_NONE 
S_AXIS_A0 
S_AXIS_A1 
S_AXIS_A2 
S_AXIS_B0 
S_AXIS_B1 
S_AXIS_B2 
S_AXIS_A0B0 
S_AXIS_A0B1 
S_AXIS_A0B2 
S_AXIS_A1B0 
S_AXIS_A1B1 
S_AXIS_A1B2 
S_AXIS_A2B0 
S_AXIS_A2B1 
S_AXIS_A2B2