70 lines
3.5 KiB
C
70 lines
3.5 KiB
C
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/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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********************************************************************************/
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#ifndef GJKALGORITHM_H
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#define GJKALGORITHM_H
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// Libraries
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#include "NarrowPhaseAlgorithm.h"
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#include "ContactInfo.h"
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#include "../body/NarrowBoundingVolume.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Constants
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const double REL_ERROR = 1.0e-3;
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const double REL_ERROR_SQUARE = REL_ERROR * REL_ERROR;
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// TODO : Improve the description here
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/* -------------------------------------------------------------------
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Class GJKAlgorithm :
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This class implements a narrow-phase collision detection algorithm. This
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algorithm uses the ISA-GJK algorithm and the EPA algorithm. This
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implementation is based on the implementation discussed in the book
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"Collision Detection in 3D Environments".
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-------------------------------------------------------------------
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*/
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class GJKAlgorithm : public NarrowPhaseAlgorithm {
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private :
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// TODO : Implement frame coherence. For each pair of body, store
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// the last separating axis and use it to initialize the v vector
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Vector3D lastSeparatingAxis;
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public :
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GJKAlgorithm(); // Constructor
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~GJKAlgorithm(); // Destructor
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virtual bool testCollision(const NarrowBoundingVolume* const boundingVolume1,
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const NarrowBoundingVolume* const boundingVolume2,
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ContactInfo*& contactInfo); // Return true and compute a contact info if the two bounding volume collide
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};
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} // End of the ReactPhysics3D namespace
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// TODO : Check what would be a correct value for the OBJECT_MARGIN constant
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#endif
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