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moved SAT code into collision module

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This commit is contained in:
Irlan
2018-04-29 22:27:41 -03:00
parent 80ac01f13d
commit c9f0b0cf93
5 changed files with 183 additions and 187 deletions
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53
include/bounce/collision/sat/sat.h
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@ -52,4 +52,57 @@ float32 b3Project(const b3Vec3& P1, const b3Vec3& E1, const b3Vec3& P2, const b3
b3EdgeQuery b3QueryEdgeSeparation(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, const b3Hull* hull2);
///////////////////////////////////////////////////////////////////////////////////////////////////
enum b3SATCacheType
{
e_separation,
e_overlap,
e_empty,
};
enum b3SATFeatureType
{
e_edge1, // an edge on hull 1 and an edge on hull 2
e_face1, // a face on hull 1 and a vertex/edge/face on hull 2
e_face2, // a face on hull 2 and a vertex/edge/face on hull 1
};
// A cached feature pair is used to improve the performance
// of the SAT when called more than once.
struct b3SATFeaturePair
{
b3SATCacheType state; // sat result
b3SATFeatureType type; // feature pair type
u32 index1; // feature index on hull 1
u32 index2; // feature index on hull 2
};
inline b3SATFeaturePair b3MakeFeaturePair(b3SATCacheType state, b3SATFeatureType type, u32 index1, u32 index2)
{
b3SATFeaturePair pair;
pair.state = state;
pair.type = type;
pair.index1 = index1;
pair.index2 = index2;
return pair;
}
struct b3FeatureCache
{
// Read the current state of the cache.
// Return e_unkown if neither a separation or penetration was detected.
b3SATCacheType ReadState(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
b3SATCacheType ReadEdge(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
b3SATCacheType ReadFace(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
b3SATFeaturePair m_featurePair;
};
#endif

39
include/bounce/dynamics/contacts/collide/collide.h
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@ -33,45 +33,6 @@ class b3MeshShape;
struct b3Manifold;
enum b3SATCacheType
{
e_separation,
e_overlap,
e_empty,
};
struct b3SATFeaturePair
{
enum Type
{
e_edge1, // an edge on hull 1 and an edge on hull 2
e_face1, // a face on hull 1 and a vertex/edge/face on hull 2
e_face2, // a face on hull 2 and a vertex/edge/face on hull 1
};
b3SATCacheType state; // sat result
Type type; // feature pair type
u32 index1; // feature index on hull 1
u32 index2; // feature index on hull 2
};
struct b3FeatureCache
{
// Read the current state of the cache.
// Return e_unkown if neither a separation or penetration was detected.
b3SATCacheType ReadState(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
b3SATCacheType ReadEdge(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
b3SATCacheType ReadFace(const b3Transform& xf1, const b3Hull* hull1,
const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
// We could increase the cache size (e.g. a feature pair of the last two frames).
b3SATFeaturePair m_featurePair;
};
// A convex cache contains information used to exploit temporal
// coherence of the contact generation algorithms between two shapes.
struct b3ConvexCache