forked from bartvdbraak/blender
80 lines
2.4 KiB
C
80 lines
2.4 KiB
C
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef DISCRETE_COLLISION_DETECTOR_INTERFACE_H
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#define DISCRETE_COLLISION_DETECTOR_INTERFACE_H
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#include "SimdTransform.h"
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#include "SimdVector3.h"
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/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
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/// This interface allows to query for closest points and penetration depth between two (convex) objects
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/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
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/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
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/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
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struct DiscreteCollisionDetectorInterface
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{
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void operator delete(void* ptr) {};
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struct Result
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{
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void operator delete(void* ptr) {};
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virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)=0;
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};
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struct ClosestPointInput
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{
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ClosestPointInput()
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:m_maximumDistanceSquared(1e30f)
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{
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}
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SimdTransform m_transformA;
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SimdTransform m_transformB;
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SimdScalar m_maximumDistanceSquared;
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};
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virtual ~DiscreteCollisionDetectorInterface() {};
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//
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// give either closest points (distance > 0) or penetration (distance)
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// the normal always points from B towards A
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//
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virtual void GetClosestPoints(const ClosestPointInput& input,Result& output) = 0;
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SimdScalar getCollisionMargin() { return 0.2f;}
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};
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struct StorageResult : public DiscreteCollisionDetectorInterface::Result
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{
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SimdVector3 m_normalOnSurfaceB;
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SimdVector3 m_closestPointInB;
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SimdScalar m_distance; //negative means penetration !
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StorageResult() : m_distance(1e30f)
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{
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}
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virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
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{
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if (depth < m_distance)
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{
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m_normalOnSurfaceB = normalOnBInWorld;
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m_closestPointInB = pointInWorld;
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m_distance = depth;
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}
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}
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};
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#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE_H
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