2009-07-08 14:53:58 +00:00
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/***************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU Lesser General Public License as published *
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* by the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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// Libraries
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#include "CollisionDetection.h"
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2009-11-20 13:51:47 +00:00
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#include "NoBroadPhaseAlgorithm.h"
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#include "NarrowPhaseSATAlgorithm.h"
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2009-07-21 20:29:37 +00:00
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#include "../body/OBB.h"
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#include "../body/RigidBody.h"
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#include <cassert>
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2009-07-08 14:53:58 +00:00
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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CollisionDetection::CollisionDetection() {
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2009-07-08 16:35:57 +00:00
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// Construct the broad-phase algorithm that will be used (Separating axis with AABB)
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2009-11-20 13:51:47 +00:00
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broadPhaseAlgorithm = new NoBroadPhaseAlgorithm();
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2009-07-08 14:53:58 +00:00
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2009-07-08 16:35:57 +00:00
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// Construct the narrow-phase algorithm that will be used (Separating axis with OBB)
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2009-11-20 13:51:47 +00:00
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narrowPhaseAlgorithm = new NarrowPhaseSATAlgorithm();
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2009-07-08 14:53:58 +00:00
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}
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// Destructor
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2009-07-08 16:35:57 +00:00
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CollisionDetection::~CollisionDetection() {
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2009-07-08 14:53:58 +00:00
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}
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2009-07-21 20:29:37 +00:00
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// Compute the collision detection for the time interval [0, timeMax]
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// The method returns true if a collision occurs in the time interval [0, timeMax]
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2009-10-18 19:24:18 +00:00
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bool CollisionDetection::computeCollisionDetection(CollisionWorld* collisionWorld) {
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2009-07-21 20:29:37 +00:00
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2009-07-31 16:13:57 +00:00
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bool existsCollision = false; // True if a collision is found in the time interval [0, timeMax]
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2009-07-21 20:29:37 +00:00
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// For each pair of bodies in the collisionWorld
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for(std::vector<Body*>::const_iterator it1 = collisionWorld->getBodyListStartIterator(); it1 != collisionWorld->getBodyListEndIterator(); ++it1) {
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for(std::vector<Body*>::const_iterator it2 = it1; it2 != collisionWorld->getBodyListEndIterator(); ++it2) {
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// If both bodies are RigidBody and are different
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RigidBody* rigidBody1 = dynamic_cast<RigidBody*>(*it1);
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RigidBody* rigidBody2 = dynamic_cast<RigidBody*>(*it2);
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if(rigidBody1 && rigidBody2 && rigidBody1 != rigidBody2) {
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// Get the oriented bounding boxes of the two bodies
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OBB obb1 = rigidBody1->getOBB();
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OBB obb2 = rigidBody2->getOBB();
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// Use the broad-phase algorithm to decide if the two bodies can collide
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if(broadPhaseAlgorithm->testCollisionPair(&obb1, &obb2)) {
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Contact* contact = 0;
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// Use the narrow-phase algorithm to check if the two bodies really collide
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2009-11-20 13:51:47 +00:00
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if(narrowPhaseAlgorithm->testCollision(&obb1, &obb2, &contact)) {
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2009-07-21 20:29:37 +00:00
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assert(contact != 0);
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2010-02-05 14:38:02 +00:00
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existsCollision = true;
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2009-07-31 16:13:57 +00:00
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2009-10-18 19:24:18 +00:00
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// Add the new collision contact into the collision world
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collisionWorld->addConstraint(contact);
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2009-07-21 20:29:37 +00:00
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}
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}
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}
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}
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}
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return existsCollision;
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2009-07-08 14:53:58 +00:00
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}
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