Opcode::SSVTreeCollider Class Reference

collision detector based on SSV(Sphere Swept Volume) More...

#include <SSVTreeCollider.h>

Inheritance diagram for Opcode::SSVTreeCollider:

Public Member Functions
	SSVTreeCollider ()
	constructor More...
	~SSVTreeCollider ()
	destructor More...
bool	Distance (BVTCache &cache, float &minD, Point &point0, Point &point1, const Matrix4x4 *world0=null, const Matrix4x4 *world1=null)
	compute the minimum distance and the closest points More...
bool	Collide (BVTCache &cache, double tolerance, const Matrix4x4 *world0=null, const Matrix4x4 *world1=null)
	detect collision between links. More...

Protected Member Functions
float	SsvSsvDist (const AABBCollisionNode *b0, const AABBCollisionNode *b1)
	compute distance between SSV(Swept Sphere Volume)s More...
float	PrimDist (udword id0, udword id1, Point &point0, Point &point1)
	compute distance between primitives(triangles) More...

Detailed Description

collision detector based on SSV(Sphere Swept Volume)

Constructor & Destructor Documentation

SSVTreeCollider()

Opcode::SSVTreeCollider::SSVTreeCollider

(

)

constructor

~SSVTreeCollider()

Opcode::SSVTreeCollider::~SSVTreeCollider ( )

inline

destructor

Member Function Documentation

Collide()

bool Opcode::SSVTreeCollider::Collide	(	BVTCache &	cache,
		double	tolerance,
		const Matrix4x4 *	world0 = null,
		const Matrix4x4 *	world1 = null
	)

detect collision between links.

Parameters

cache
tolerance	If distance between links is smaller than this value, it is regarded as collision
world0	transformation of the first link
world1	transformation of the second link

Returns

true if collision is detected, false otherwise

Distance()

bool Opcode::SSVTreeCollider::Distance	(	BVTCache &	cache,
		float &	minD,
		Point &	point0,
		Point &	point1,
		const Matrix4x4 *	world0 = null,
		const Matrix4x4 *	world1 = null
	)

compute the minimum distance and the closest points

Parameters

cache
minD	the minimum distance
point0	the closest point on the first link
point1	the closest point on the second link
world0	transformation of the first link
world1	transformation of the second link

Returns

true if computed successfully, false otherwise

PrimDist()

float Opcode::SSVTreeCollider::PrimDist ( udword  id0, udword  id1, Point &  point0, Point &  point1  )

protected

compute distance between primitives(triangles)

Parameters

id0	index of the first primitive
id1	index of the second primitive
point0	the closest point on the first primitive
point1	the closest point on the second primitive

Returns

the minimum distance

SsvSsvDist()

float Opcode::SSVTreeCollider::SsvSsvDist ( const AABBCollisionNode *  b0, const AABBCollisionNode *  b1  )

protected

compute distance between SSV(Swept Sphere Volume)s

Parameters

b0	collision node from the left tree
b1	collision node from the right tree
return	distance

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The documentation for this class was generated from the following files:

• SSVTreeCollider.h
• SSVTreeCollider.cpp