Initial commit

Torque/SDK/engine/collision/gjk.h

@@ -0,0 +1,66 @@
+//-----------------------------------------------------------------------------
+// Torque Game Engine
+// Copyright (C) GarageGames.com, Inc.
+//-----------------------------------------------------------------------------
+
+#ifndef _GJK_H_
+#define _GJK_H_
+
+#ifndef _MMATH_H_
+#include "math/mMath.h"
+#endif
+#ifndef _TVECTOR_H_
+#include "core/tVector.h"
+#endif
+#ifndef _CONVEX_H_
+#include "collision/convex.h"
+#endif
+
+class Convex;
+struct CollisionStateList;
+struct Collision;
+
+//----------------------------------------------------------------------------
+
+struct GjkCollisionState: public CollisionState
+{
+   /// @name Temporary values
+   /// @{
+   Point3F p[4];     ///< support points of object A in local coordinates
+   Point3F q[4];     ///< support points of object B in local coordinates
+   VectorF y[4];     ///< support points of A - B in world coordinates
+
+   S32 bits;         ///< identifies current simplex
+   S32 all_bits;     ///< all_bits = bits | last_bit
+   F32 det[16][4];   ///< cached sub-determinants
+   F32 dp[4][4];     ///< cached dot products
+
+   S32 last;         ///< identifies last found support point
+   S32 last_bit;     ///< last_bit = 1<<last
+   /// @}
+
+   ///
+   void compute_det();
+   bool valid(int s);
+   void compute_vector(int bits, VectorF& v);
+   bool closest(VectorF& v);
+   bool degenerate(const VectorF& w);
+   void nextBit();
+   void swap();
+   void reset(const MatrixF& a2w, const MatrixF& b2w);
+
+   GjkCollisionState();
+   ~GjkCollisionState();
+
+   void set(Convex* a,Convex* b,const MatrixF& a2w, const MatrixF& b2w);
+
+   void getCollisionInfo(const MatrixF& mat, Collision* info);
+   void getClosestPoints(Point3F& p1, Point3F& p2);
+   bool intersect(const MatrixF& a2w, const MatrixF& b2w);
+   F32 distance(const MatrixF& a2w, const MatrixF& b2w, const F32 dontCareDist,
+                       const MatrixF* w2a = NULL, const MatrixF* _w2b = NULL);
+   void render();
+};
+
+
+#endif