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