Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

source: orxonox.OLD/orxonox/trunk/src/collision.h @ 3009

Last change on this file since 3009 was 2190, checked in by bensch, 20 years ago

orxonox/trunk: merged and copied all files from branches/chris into trunk. it all seems to be in propper order.

File size: 2.6 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 "coordinates.h"
11#include <stdlib.h>
12#include <stdio.h>
13#include <string.h>
14
15//! Tree structure used by the CollisionCluster
16typedef struct CC_Tree
17{
18  unsigned long n;
19  union
20  {
21  struct CC_Tree** b;
22  unsigned long ID;
23  } data;
24  float r;
25  Vector m;
26} CC_Tree;
27
28//! Basic collision detection class
29/**
30  This class implements a more or less efficient collision system based on nested hitzones.
31  Instead of using a brute force approach (try if any hitzone intersects with any other hitzone)
32  this features a tree of spheric hitzones. Only some of them are actually the solid groundstones
33  the collision model bases on, the others serve to group them into sets of spheres that are only
34  checked for collision when the assigned top level sphere has registered a collision, preventing
35  unnessessary checks (like between every sphere of two collision clusters at the other end of the world)
36  from being performed.
37  The CollisionCluster features collision detection between multiple CollisionClusters as well as
38  traceing a collision between a line of defined length and a cluster. In both cases the base spheres
39  that have intersected are marked with a flag in an unsigned long for hitlocation queries. In the case
40  of a trace, the exact point of interception is returned as well.
41*/
42class CollisionCluster {
43 
44  CC_Tree* root;
45 
46 
47 public:
48  CollisionCluster (float r, Vector m); // simple cluster
49  CollisionCluster (char* filename); // get cluster from file
50  ~CollisionCluster ();
51 
52  int store (char* filename);
53 
54  friend bool cctree_trace( const Placement* p, CC_Tree* t, unsigned long* hitflags, const Line* trace, Vector* impactpoint);
55  friend bool cctree_iterate(const Placement* pa, CC_Tree* ta, unsigned long* ahitflags, const Placement* pb, CC_Tree* tb, unsigned long* bhitflags);
56  friend bool check_trace (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Line* trace, Vector* impactpoint);
57  friend bool check_collision (const Placement* pa, const CollisionCluster* a, unsigned long* ahitflags, const Placement* pb, const CollisionCluster* b, unsigned long* bhitflags);
58};
59
60bool sphere_sphere_collision( Vector m1, float r1, Vector m2, float r2);
61bool trace_sphere_collision( Vector m, float r, const Line* l, Vector* impactpoint);
62
63void setflag( unsigned long* flags, unsigned long ID);
64
65void free_CC_Tree( CC_Tree* tree);
66CC_Tree* load_CC_Tree (FILE* stream);
67int save_CC_Tree (CC_Tree* tree, FILE* stream);
68
69#endif
Note: See TracBrowser for help on using the repository browser.