109 lines
3.3 KiB
C
109 lines
3.3 KiB
C
/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_SAT_H
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#define B3_SAT_H
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#include <bounce/common/geometry.h>
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struct b3Hull;
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///////////////////////////////////////////////////////////////////////////////////////////////////
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struct b3FaceQuery
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{
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u32 index;
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float32 separation;
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};
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float32 b3Project(const b3Hull* hull, const b3Plane& plane);
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b3FaceQuery b3QueryFaceSeparation(const b3Transform& xf1, const b3Hull* hull1,
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const b3Transform& xf2, const b3Hull* hull2);
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///////////////////////////////////////////////////////////////////////////////////////////////////
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struct b3EdgeQuery
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{
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u32 index1;
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u32 index2;
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float32 separation;
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};
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bool b3IsMinkowskiFace(const b3Vec3& A, const b3Vec3& B, const b3Vec3& B_x_A, const b3Vec3& C, const b3Vec3& D, const b3Vec3& D_x_C);
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float32 b3Project(const b3Vec3& P1, const b3Vec3& E1, const b3Vec3& P2, const b3Vec3& E2, const b3Vec3& C1);
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b3EdgeQuery b3QueryEdgeSeparation(const b3Transform& xf1, const b3Hull* hull1,
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const b3Transform& xf2, const b3Hull* hull2);
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///////////////////////////////////////////////////////////////////////////////////////////////////
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enum b3SATCacheType
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{
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e_separation,
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e_overlap,
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e_empty,
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};
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enum b3SATFeatureType
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{
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e_edge1, // an edge on hull 1 and an edge on hull 2
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e_face1, // a face on hull 1 and a vertex/edge/face on hull 2
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e_face2, // a face on hull 2 and a vertex/edge/face on hull 1
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};
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// A cached feature pair is used to improve the performance
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// of the SAT when called more than once.
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struct b3SATFeaturePair
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{
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b3SATCacheType state; // sat result
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b3SATFeatureType type; // feature pair type
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u32 index1; // feature index on hull 1
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u32 index2; // feature index on hull 2
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};
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inline b3SATFeaturePair b3MakeFeaturePair(b3SATCacheType state, b3SATFeatureType type, u32 index1, u32 index2)
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{
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b3SATFeaturePair pair;
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pair.state = state;
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pair.type = type;
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pair.index1 = index1;
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pair.index2 = index2;
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return pair;
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}
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struct b3FeatureCache
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{
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// Read the current state of the cache.
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// Return e_unkown if neither a separation or penetration was detected.
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b3SATCacheType ReadState(const b3Transform& xf1, const b3Hull* hull1,
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const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
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b3SATCacheType ReadEdge(const b3Transform& xf1, const b3Hull* hull1,
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const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
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b3SATCacheType ReadFace(const b3Transform& xf1, const b3Hull* hull1,
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const b3Transform& xf2, const b3Hull* hull2, float32 totalRadius);
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b3SATFeaturePair m_featurePair;
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};
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#endif
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