CollisionDetection.cpp File Reference

#include "G3D/CoordinateFrame.h"
#include "G3D/platform.h"
#include "G3D/CollisionDetection.h"
#include "G3D/debugAssert.h"
#include "G3D/vectorMath.h"
#include "G3D/Capsule.h"
#include "G3D/Plane.h"
#include "G3D/Line.h"
#include "G3D/LineSegment.h"
#include "G3D/Sphere.h"
#include "G3D/Box.h"
#include "G3D/Triangle.h"
#include "G3D/Vector3.h"
#include "G3D/AABox.h"

Include dependency graph for CollisionDetection.cpp:

Namespaces
	G3D

Macros
#define	IR(x)   ((uint32&)x)
#define	AREA2(d, e, f)   (((e)[i] - (d)[i]) * ((f)[j] - (d)[j]) - ((f)[i] - (d)[i]) * ((e)[j] - (d)[j]))
#define	X   0
#define	Y   1
#define	Z   2
#define	FINDMINMAX(x0, x1, x2, min, max)
#define	AXISTEST_X01(a, b, fa, fb)
#define	AXISTEST_X2(a, b, fa, fb)
#define	AXISTEST_Y02(a, b, fa, fb)
#define	AXISTEST_Y1(a, b, fa, fb)
#define	AXISTEST_Z12(a, b, fa, fb)
#define	AXISTEST_Z0(a, b, fa, fb)

Functions
static int	G3D::findRayCapsuleIntersectionAux (const Vector3 &rkOrigin, const Vector3 &rkDirection, const Capsule &rkCapsule, double afT[2])
static bool	G3D::findRayCapsuleIntersection (const Ray &rkRay, const Capsule &rkCapsule, int &riQuantity, Vector3 akPoint[2])
static bool	G3D::planeBoxOverlap (const Vector3 &normal, const Vector3 &vert, const Vector3 &maxbox)

Detailed Description

Morgan McGuire, http://graphics.cs.williams.edu

[Bounce] direction based on Paul Nettle's ftp://ftp.3dmaileffects.com/pub/FluidStudios/CollisionDetection/Fluid_Studios_Generic_Collision_Detection_for_Games_Using_Ellipsoids.pdf and comments by Max McGuire. Ray-sphere code by Eric Haines.

2001-11-24 2008-12-29

Macro Definition Documentation

#define AREA2	(		d,
			e,
			f
	)		(((e)[i] - (d)[i]) * ((f)[j] - (d)[j]) - ((f)[i] - (d)[i]) * ((e)[j] - (d)[j]))

#define AXISTEST_X01	(		a,
			b,
			fa,
			fb
	)

Value:

p0 = a*v0[Y] - b*v0[Z]; \
 p2 = a*v2[Y] - b*v2[Z]; \
 if(p0<p2) {min=p0; max=p2;} else {min=p2; max=p0;} \
 rad = fa * boxhalfsize[Y] + fb * boxhalfsize[Z]; \
 if(min>rad || max<-rad) return false;

#define AXISTEST_X2	(		a,
			b,
			fa,
			fb
	)

Value:

p0 = a*v0[Y] - b*v0[Z]; \
 p1 = a*v1[Y] - b*v1[Z]; \
 if(p0<p1) {min=p0; max=p1;} else {min=p1; max=p0;} \
 rad = fa * boxhalfsize[Y] + fb * boxhalfsize[Z]; \
 if(min>rad || max<-rad) return false;

#define AXISTEST_Y02	(		a,
			b,
			fa,
			fb
	)

Value:

p0 = -a*v0[X] + b*v0[Z]; \
 p2 = -a*v2[X] + b*v2[Z]; \
 if(p0<p2) {min=p0; max=p2;} else {min=p2; max=p0;} \
 rad = fa * boxhalfsize[X] + fb * boxhalfsize[Z]; \
 if(min>rad || max<-rad) return false;

#define AXISTEST_Y1	(		a,
			b,
			fa,
			fb
	)

Value:

p0 = -a*v0[X] + b*v0[Z]; \
 p1 = -a*v1[X] + b*v1[Z]; \
 if(p0<p1) {min=p0; max=p1;} else {min=p1; max=p0;} \
 rad = fa * boxhalfsize[X] + fb * boxhalfsize[Z]; \
 if(min>rad || max<-rad) return false;

#define AXISTEST_Z0	(		a,
			b,
			fa,
			fb
	)

Value:

p0 = a*v0[X] - b*v0[Y]; \
 p1 = a*v1[X] - b*v1[Y]; \
 if(p0<p1) {min=p0; max=p1;} else {min=p1; max=p0;} \
 rad = fa * boxhalfsize[X] + fb * boxhalfsize[Y]; \
 if(min>rad || max<-rad) return false;

#define AXISTEST_Z12	(		a,
			b,
			fa,
			fb
	)

Value:

p1 = a*v1[X] - b*v1[Y]; \
 p2 = a*v2[X] - b*v2[Y]; \
 if(p2<p1) {min=p2; max=p1;} else {min=p1; max=p2;} \
 rad = fa * boxhalfsize[X] + fb * boxhalfsize[Y]; \
 if(min>rad || max<-rad) return false;

#define FINDMINMAX	(		x0,
			x1,
			x2,
			min,
			max
	)

Value:

min = max = x0; \
 if(x1<min) min=x1;\
 if(x1>max) max=x1;\
 if(x2<min) min=x2;\
 if(x2>max) max=x2;

#define IR

(

x

)

((uint32&)x)

#define X   0

#define Y   1

#define Z   2