1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
|
/*
* SOLID - Software Library for Interference Detection
*
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
*
* This library may be distributed under the terms of the Q Public License
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
* LICENSE.QPL included in the packaging of this file.
*
* This library may be distributed and/or modified under the terms of the
* GNU General Public License (GPL) version 2 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL included in the
* packaging of this file.
*
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Commercial use or any other use of this library not covered by either
* the QPL or the GPL requires an additional license from Dtecta.
* Please contact info@dtecta.com for enquiries about the terms of commercial
* use of this library.
*/
#ifndef DT_COMPLEX_H
#define DT_COMPLEX_H
#include <algorithm>
#include "MT_Transform.h"
#include "DT_VertexBase.h"
#include "DT_Shape.h"
#include "DT_CBox.h"
#include "DT_BBoxTree.h"
class DT_Convex;
class DT_Complex : public DT_Shape {
public:
DT_Complex(const DT_VertexBase *base);
virtual ~DT_Complex();
void finish(DT_Count n, const DT_Convex *p[]);
virtual DT_ShapeType getType() const { return COMPLEX; }
virtual MT_BBox bbox(const MT_Transform& t, MT_Scalar margin) const;
virtual bool ray_cast(const MT_Point3& source, const MT_Point3& target,
MT_Scalar& lambda, MT_Vector3& normal) const;
void refit();
friend bool intersect(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Convex& b, MT_Vector3& v);
friend bool intersect(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v);
friend bool common_point(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Convex& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
friend bool common_point(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
friend bool penetration_depth(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Convex& b, MT_Scalar b_margin, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
friend bool penetration_depth(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
friend MT_Scalar closest_points(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Convex& b, MT_Point3& pa, MT_Point3& pb);
friend MT_Scalar closest_points(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
MT_Point3& pa, MT_Point3& pb);
const DT_VertexBase *m_base;
DT_Count m_count;
const DT_Convex **m_leaves;
DT_BBoxNode *m_nodes;
DT_CBox m_cbox;
DT_BBoxTree::NodeType m_type;
};
#endif
|
