96 lines
3.4 KiB
C++
96 lines
3.4 KiB
C++
/** \file sr_bv_coldet.h
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* multi model collision test */
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# ifndef SR_BV_COLDET_H
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# define SR_BV_COLDET_H
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# include "precompiled.h"
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# include "sr_set.h"
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# include "sr_bv_nbody.h"
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# include "sr_bv_tree_query.h"
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/* SrBvColdet uses SrBvNBody in order to efficiently determine
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collisions between several dynamic objects.
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Adapted from the VCollide package. Their copyright is in the source file. */
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class SrBvColdet
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{ private:
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class Object;
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friend class SrBvColdetObjectManager;
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SrSet<Object>* _set;
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SrBvNBody _nbody;
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SrBvIdPairs _disabled;
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SrBvTreeQuery _query;
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SrArray<int> _pairs;
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public:
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/*! Constructor */
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SrBvColdet ();
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/*! Destructor (calls init()) */
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~SrBvColdet ();
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/*! Clears everything */
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void init ();
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/*! Create a new object and returns its id. */
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int insert_object ( const SrModel& m );
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/*! Removes (and deletes) the object from the database. */
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void remove_object ( int id );
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/*! Returns true if id represents a valid id in the database, and false otherwise */
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bool id_valid ( int id ) { return _getobj(id)? true:false; }
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/*! Update the transformation applied to an object.
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Only rotations and translations are supported. */
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void update_transformation ( int id, const SrMat& m );
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/*! Turn on collision detection for an object. */
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void activate_object ( int id );
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/*! Turn off collision detection for an object. */
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void deactivate_object ( int id );
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/*! Turn on collision detection between a specific pair of objects. */
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void activate_pair ( int id1, int id2 );
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/*! Turn off collision detection between a specific pair of objects. */
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void deactivate_pair ( int id1, int id2 );
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/*! Returns true if the given pair of objects is deactivated and
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false otherwise (-1 ids return false). */
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bool pair_deactivated ( int id1, int id2 ) { return _disabled.pair_exists(id1,id2); }
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/*! Counts and returns the number of deactivated pairs */
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int count_deactivated_pairs () { return _disabled.count_pairs(); }
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/*! Returns the array with the ids of the colliding objects in
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the last collide_all() or has_collisions() query. The id
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pairs are sequentially stored in the array. Therefore, the number
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of collisions = colliding_pairs.size()/2. */
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const SrArray<int>& colliding_pairs () const { return _pairs; }
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/*! Perform collision detection only untill finding a first collision.
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True is returned if a collision was found; false is returned otherwise. */
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bool collide ()
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{ return _collide ( SrBvTreeQuery::CollideFirstContact ); }
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/*! Perform collision detection among all pairs of objects. The results can
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be retrieved with colliding_pairs() */
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bool collide_all ()
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{ return _collide ( SrBvTreeQuery::CollideAllContacts ); }
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/*! Returns true as soon as the distance between one pair of models
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is found to be smaller than the given tolerance.
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False is returned when all pairs respects the minimum clearance. */
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bool collide_tolerance ( float toler ) { return _collide_tolerance(toler); }
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private :
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bool _collide ( SrBvTreeQuery::CollideFlag flag );
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bool _collide_tolerance ( float toler );
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Object* _getobj ( int id ) { return ( id<0 || id>_set->maxid() )? 0:_set->get(id); }
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};
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#endif // SR_BV_COLDET_H
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