physics/OBBCollisionDetector

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/****************************************************************************
  Copyright (C)1996 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: OBBCollisionDetector 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.2 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_OBBCOLLISIONDETECTOR_
#define _PHYSICS_OBBCOLLISIONDETECTOR_

#include <physics/physics>
#include <base/array>
#include <physics/CollisionDetector>
#include <physics/OBBCollisionModel>
#include <base/Vector3>
#include <base/Matrix3>
#include <gfx/Triangle3>
#include <vector>


namespace physics {


class OBBCollisionDetector : public CollisionDetector
{
public:
  OBBCollisionDetector() 
    : collisionDetectionEnabled(true) {}

  virtual String className() const { return String("OBBCollisionDetector"); }

  virtual CollisionModel::CollisionModelType getType() const
    { return CollisionModel::OBBModel; }


  virtual bool collision(ref<const Solid> solid1, ref<const Solid> solid2, CollisionQueryType queryType);
  
  
  virtual bool collisionEnable(bool enabled) 
    {
      bool oldEnable = collisionDetectionEnabled;
      collisionDetectionEnabled=enabled; 
      return oldEnable;
    }
  

  Int numBoxTests;
  Int numTriTests;
  
protected:
  bool collisionDetectionEnabled;
  
  base::Vector3 i1,i2,i3;
  base::Matrix3 Bf;
  base::Matrix3 mR;
  base::Vector3 mT;
  Real ms;
  
  std::vector<std::pair<gfx::Triangle3,gfx::Triangle3> > contacts;
  
  bool firstContact;
  
  void Collide(const base::Matrix3& R1, const base::Vector3& T1, 
               ref<const OBBCollisionModel> model1,
               const base::Matrix3& R2, const base::Vector3& T2, 
               ref<const OBBCollisionModel> model2,
               CollisionQueryType queryType);
  void Collide(const base::Matrix3& R1, const base::Vector3& T1, Real s1, 
               ref<const OBBCollisionModel> model1,
               const base::Matrix3& R2, const base::Vector3& T2, Real s2, 
               ref<const OBBCollisionModel> model2,
               CollisionQueryType queryType);
  
  void collideRecursive(const OBBCollisionModel::OBB& b1, 
                        const OBBCollisionModel::OBB& b2,
                        const base::Matrix3& R, const base::Vector3& T, double s);
  
  void triContact(const OBBCollisionModel::OBB& b1, const OBBCollisionModel::OBB& b2);
  bool triContact(const base::Vector3& P1, const base::Vector3& P2, const gfx::Vector3& P3,
                  const base::Point3& Q1, const base::Point3& Q2, const gfx::Point3& Q3);
  bool project6(const Vector3& ax, 
                const Vector3& p1, const Vector3& p2, const Vector3& p3,
                const Vector3& q1, const Vector3& q2, const Vector3& q3) const;
  Int OBBDisjoint(const base::Matrix3& B, const base::Vector3& T,
                  const base::Vector3& a, const base::Vector3& b);


  
  class OBBCollisionState : public CollisionState
  {
  public:
    OBBCollisionState(ref<const Solid> solid1, ref<const Solid> solid2)
      : CollisionState(solid1, solid2) {}
    virtual ~OBBCollisionState() {}

    virtual String className() const { return String("OBBCollisionState"); }
    
  };
  
  virtual ref<CollisionState> newCollisionState(ref<const Solid> solid1, ref<const Solid> solid2) const
    { return ref<CollisionState>(NewNamedObj("OBBSollisionState") OBBCollisionState(solid1,solid2)); }

  
  // temporaries
  base::Vector3 p1, p2, p3, q1, q2, q3, e1, e2, e3, f1, f2, f3,
    g1, g2, g3, h1, h2, h3, n1, m1, z,
    ef11, ef12, ef13, ef21, ef22, ef23, ef31, ef32, ef33;
  
};


} // physics

#endif

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