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#ifndef COLLISION_VOLUME_H
#define COLLISION_VOLUME_H
#include "float3.h"
#include "creg/creg_cond.h"
#include "Util.h"
const float EPS = 0.0000000001f;
enum COLVOL_TYPES {
COLVOL_TYPE_DISABLED = -1,
COLVOL_TYPE_ELLIPSOID = 0,
COLVOL_TYPE_CYLINDER,
COLVOL_TYPE_BOX,
COLVOL_TYPE_SPHERE,
COLVOL_TYPE_FOOTPRINT, // intersection of sphere and footprint-prism
COLVOL_NUM_TYPES // number of non-disabled collision volume types
};
enum COLVOL_AXES {
COLVOL_AXIS_X = 0,
COLVOL_AXIS_Y = 1,
COLVOL_AXIS_Z = 2,
COLVOL_NUM_AXES = 3 // number of collision volume axes
};
enum COLVOL_TESTS {
COLVOL_TEST_DISC = 0,
COLVOL_TEST_CONT = 1,
COLVOL_NUM_TESTS = 2 // number of tests
};
struct CollisionVolume
{
CR_DECLARE_STRUCT(CollisionVolume);
CollisionVolume();
CollisionVolume(const CollisionVolume* v, float defRadius = 0.0f);
CollisionVolume(const std::string&, const float3&, const float3&, int);
static std::pair<int, int> GetVolumeTypeForString(const std::string&);
void SetDefaultScale(const float);
void Init(const float3&, const float3&, int, int, int);
int GetVolumeType() const { return volumeType; }
int GetTestType() const { return testType; }
void SetVolumeType(int type) { volumeType = type; }
void SetTestType(int type) { testType = type; }
void Enable() { disabled = false; }
void Disable() { disabled = true; }
int GetPrimaryAxis() const { return primaryAxis; }
int GetSecondaryAxis(int axis) const { return secondaryAxes[axis]; }
float GetBoundingRadius() const { return volumeBoundingRadius; }
float GetBoundingRadiusSq() const { return volumeBoundingRadiusSq; }
float GetOffset(int axis) const { return axisOffsets[axis]; }
const float3& GetOffsets() const { return axisOffsets; }
float GetScale(int axis) const { return axisScales[axis]; }
float GetHScale(int axis) const { return axisHScales[axis]; }
float GetHScaleSq(int axis) const { return axisHScalesSq[axis]; }
const float3& GetScales() const { return axisScales; }
const float3& GetHScales() const { return axisHScales; }
const float3& GetHScalesSq() const { return axisHScalesSq; }
const float3& GetHIScales() const { return axisHIScales; }
void RescaleAxes(float, float, float);
bool IsDisabled() const { return disabled; }
bool IsSphere() const { return volumeType == COLVOL_TYPE_SPHERE; }
bool UseFootprint() const { return volumeType == COLVOL_TYPE_FOOTPRINT; }
private:
void SetAxisScales(float, float, float);
void SetBoundingRadius();
float3 axisScales; // full-length axis scales
float3 axisHScales; // half-length axis scales
float3 axisHScalesSq; // half-length axis scales (squared)
float3 axisHIScales; // half-length axis scales (inverted)
float3 axisOffsets;
float volumeBoundingRadius; // radius of minimally-bounding sphere around volume
float volumeBoundingRadiusSq; // squared radius of minimally-bounding sphere
int volumeType;
int testType;
int primaryAxis;
int secondaryAxes[2];
bool disabled;
};
#endif
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