155 lines
5.2 KiB
C
155 lines
5.2 KiB
C
/***
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* libccd
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* ---------------------------------
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* Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz>
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*
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*
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* This file is part of libccd.
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*
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* Distributed under the OSI-approved BSD License (the "License");
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* see accompanying file BDS-LICENSE for details or see
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* <http://www.opensource.org/licenses/bsd-license.php>.
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*
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* This software is distributed WITHOUT ANY WARRANTY; without even the
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* implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the License for more information.
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*/
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#ifndef __CCD_H__
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#define __CCD_H__
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#include <ccd/vec3.h>
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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/**
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* Type of *support* function that takes pointer to 3D object and direction
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* and returns (via vec argument) furthest point from object in specified
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* direction.
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*/
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typedef void (*ccd_support_fn)(const void *obj, const ccd_vec3_t *dir,
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ccd_vec3_t *vec);
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/**
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* Returns (via dir argument) first direction vector that will be used in
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* initialization of algorithm.
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*/
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typedef void (*ccd_first_dir_fn)(const void *obj1, const void *obj2,
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ccd_vec3_t *dir);
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/**
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* Returns (via center argument) geometric center (some point near center)
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* of given object.
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*/
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typedef void (*ccd_center_fn)(const void *obj1, ccd_vec3_t *center);
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/**
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* Main structure of CCD algorithm.
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*/
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struct _ccd_t {
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ccd_first_dir_fn first_dir; //!< Returns initial direction where first
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//!< support point will be searched
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ccd_support_fn support1; //!< Function that returns support point of
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//!< first object
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ccd_support_fn support2; //!< Function that returns support point of
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//!< second object
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ccd_center_fn center1; //!< Function that returns geometric center of
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//!< first object
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ccd_center_fn center2; //!< Function that returns geometric center of
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//!< second object
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unsigned long max_iterations; //!< Maximal number of iterations
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ccd_real_t epa_tolerance;
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ccd_real_t mpr_tolerance; //!< Boundary tolerance for MPR algorithm
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ccd_real_t dist_tolerance;
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};
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typedef struct _ccd_t ccd_t;
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/**
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* Default first direction.
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*/
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CCD_EXPORT void ccdFirstDirDefault(const void *o1, const void *o2,
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ccd_vec3_t *dir);
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#define CCD_INIT(ccd) \
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do { \
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(ccd)->first_dir = ccdFirstDirDefault; \
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(ccd)->support1 = NULL; \
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(ccd)->support2 = NULL; \
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(ccd)->center1 = NULL; \
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(ccd)->center2 = NULL; \
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\
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(ccd)->max_iterations = (unsigned long)-1; \
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(ccd)->epa_tolerance = CCD_REAL(0.0001); \
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(ccd)->mpr_tolerance = CCD_REAL(0.0001); \
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(ccd)->dist_tolerance = CCD_REAL(1E-6); \
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} while(0)
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/**
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* Returns true if two given objects interest.
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*/
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CCD_EXPORT int ccdGJKIntersect(const void *obj1, const void *obj2,
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const ccd_t *ccd);
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/**
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* This function computes separation vector of two objects. Separation
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* vector is minimal translation of obj2 to get obj1 and obj2 speparated
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* (without intersection).
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* Returns 0 if obj1 and obj2 intersect and sep is filled with translation
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* vector. If obj1 and obj2 don't intersect -1 is returned.
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* If memory allocation fails -2 is returned.
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*/
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CCD_EXPORT int ccdGJKSeparate(const void *obj1, const void *obj2,
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const ccd_t *ccd, ccd_vec3_t *sep);
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/**
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* Computes penetration of obj2 into obj1.
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* Depth of penetration, direction and position is returned. It means that
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* if obj2 is translated by distance depth in direction dir objects will
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* have touching contact, pos should be position in global coordinates
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* where force should take a place.
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*
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* CCD+EPA algorithm is used.
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*
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* Returns 0 if obj1 and obj2 intersect and depth, dir and pos are filled
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* if given non-NULL pointers.
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* If obj1 and obj2 don't intersect -1 is returned.
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* If memory allocation fails -2 is returned.
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*/
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CCD_EXPORT int ccdGJKPenetration(const void *obj1, const void *obj2,
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const ccd_t *ccd, ccd_real_t *depth,
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ccd_vec3_t *dir, ccd_vec3_t *pos);
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/**
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* Returns true if two given objects intersect - MPR algorithm is used.
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*/
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CCD_EXPORT int ccdMPRIntersect(const void *obj1, const void *obj2,
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const ccd_t *ccd);
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/**
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* Computes penetration of obj2 into obj1.
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* Depth of penetration, direction and position is returned, i.e. if obj2
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* is translated by computed depth in resulting direction obj1 and obj2
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* would have touching contact. Position is point in global coordinates
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* where force should take a place.
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*
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* Minkowski Portal Refinement algorithm is used (MPR, a.k.a. XenoCollide,
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* see Game Programming Gem 7).
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*
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* Returns 0 if obj1 and obj2 intersect, otherwise -1 is returned.
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*/
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CCD_EXPORT int ccdMPRPenetration(const void *obj1, const void *obj2,
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const ccd_t *ccd, ccd_real_t *depth,
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ccd_vec3_t *dir, ccd_vec3_t *pos);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif /* __cplusplus */
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#endif /* __CCD_H__ */
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