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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.2.0 (2010/06/21)
#ifndef COLLIDERS_H
#define COLLIDERS_H
#include "Wm5Vector3.h"
using namespace Wm5;
// An implementation of the abstract base class of Section 8.3.1 of "3D Game
// Engine Design, 2nd edition".
class Colliders
{
public:
// Construciton and destruction.
Colliders ();
virtual ~Colliders ();
// Member access.
void SetDerivativeTimeStep (float timeStep);
float GetDerivativeTimeStep () const;
void SetPseudodistanceThreshold (float threshold);
float GetPseudodistanceThreshold () const;
void SetMaxIterations (int maxIterations);
int GetMaxIterations () const;
enum CollisionType
{
UNKNOWN,
SEPARATED,
TOUCHING,
OVERLAPPING
};
// The test-intersection query.
virtual CollisionType Test (
float fMaxTime,
const Vector3f& rkVelocity0,
const Vector3f& rkVelocity1,
float& rfContactTime);
// The find intersection query.
virtual CollisionType Find (
float fMaxTime,
const Vector3f& rkVelocity0,
const Vector3f& rkVelocity1,
float& rfContactTime);
// Return the contact time computed by a call to Test or Find. If there
// is no contact, the returned time is MAX_REAL. If the objects are
// overlapping, the returned time is 0.0f.
float GetContactTime () const;
protected:
virtual float Pseudodistance (float time, const Vector3f& velocity0,
const Vector3f& velocity1) const = 0;
virtual void ComputeContactInformation (CollisionType type, float time,
const Vector3f& velocity0, const Vector3f& velocity1) = 0;
virtual float PseudodistanceDerivative (float t0, float f0,
const Vector3f& velocity0, const Vector3f& velocity1) const;
virtual CollisionType FastNoIntersection (float maxTime,
const Vector3f& velocity0, const Vector3f& velocity1, float& f0,
float& fder0);
float mDerivativeTimeStep;
float mInvDerivativeTimeStep;
float mPseudodistanceThreshold;
int mMaxIterations;
float mContactTime;
};
#endif
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