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source: orxonox.OLD/orxonox/trunk/src/collision.h @ 4692

Last change on this file since 4692 was 3474, checked in by patrick, 20 years ago

orxonox/trunk: redesigning directory structure - created lib and added all importand classes, did exclude collision.* since i couldnt integrate it into the new pnode model (have to do this with fuzzy)

File size: 2.5 KB
Line 
1/*!
2    \file collision.h
3    \brief Basic collision detection
4*/ 
5
6#ifndef _COLLISION_H
7#define _COLLISION_H
8
9#include "vector.h"
10#include <stdlib.h>
11#include <stdio.h>
12#include <string.h>
13
14//! Tree structure used by the CollisionCluster
15typedef struct CCTree
16{
17  unsigned long n;
18  union
19  {
20  struct CCTree** b;
21  unsigned long ID;
22  } data;
23  float r;
24  Vector m;
25} CCTree;
26
27//! Basic collision detection class
28/**
29  This class implements a more or less efficient collision system based on nested hitzones.
30  Instead of using a brute force approach (try if any hitzone intersects with any other hitzone)
31  this features a tree of spheric hitzones. Only some of them are actually the solid groundstones
32  the collision model bases on, the others serve to group them into sets of spheres that are only
33  checked for collision when the assigned top level sphere has registered a collision, preventing
34  unnessessary checks (like between every sphere of two collision clusters at the other end of the world)
35  from being performed.
36  The CollisionCluster features collision detection between multiple CollisionClusters as well as
37  traceing a collision between a line of defined length and a cluster. In both cases the base spheres
38  that have intersected are marked with a flag in an unsigned long for hitlocation queries. In the case
39  of a trace, the exact point of interception is returned as well.
40*/
41class CollisionCluster {
42 
43  CCTree* root;
44 
45 
46 public:
47  CollisionCluster (float r, Vector m); // simple cluster
48  CollisionCluster (char* filename); // get cluster from file
49  ~CollisionCluster ();
50 
51  int store (char* filename);
52 
53  friend bool ccTreeTrace( const Placement* p, CCTree* t, unsigned long* hitflags, const Line* trace, Vector* impactpoint);
54  friend bool ccTreeIterate(const Placement* pa, CCTree* ta, unsigned long* ahitflags, const Placement* pb, CCTree* tb, unsigned long* bhitflags);
55  friend bool checkTrace (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Line* trace, Vector* impactpoint);
56  friend bool checkCollision (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Placement* pb, const CollisionCluster* b, unsigned long* bhitflags);
57};
58
59bool sphereSphereCollision( Vector m1, float r1, Vector m2, float r2);
60bool traceSphereCollision( Vector m, float r, const Line* l, Vector* impactpoint);
61
62void setflag( unsigned long* flags, unsigned long ID);
63
64void freeCCTree( CCTree* tree);
65CCTree* loadCCTree (FILE* stream);
66int saveCCTree (CCTree* tree, FILE* stream);
67
68#endif /* _COLLISION_H */
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