CrystalSpace

Public API Reference

cstool/collider.h

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00001 /*
00002     Copyright (C) 1998-2003 by Jorrit Tyberghein
00003     Written by Alex Pfaffe.
00004 
00005     This library is free software; you can redistribute it and/or
00006     modify it under the terms of the GNU Library General Public
00007     License as published by the Free Software Foundation; either
00008     version 2 of the License, or (at your option) any later version.
00009 
00010     This library is distributed in the hope that it will be useful,
00011     but WITHOUT ANY WARRANTY; without even the implied warranty of
00012     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00013     Library General Public License for more details.
00014 
00015     You should have received a copy of the GNU Library General Public
00016     License along with this library; if not, write to the Free
00017     Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00018 */
00019 #ifndef __CS_COLLIDER_H__
00020 #define __CS_COLLIDER_H__
00021 
00026 #include "csextern.h"
00027 
00028 #include "csgeom/box.h"
00029 #include "csutil/csobject.h"
00030 #include "csutil/leakguard.h"
00031 #include "csutil/array.h"
00032 #include "csutil/scf_implementation.h"
00033 #include "csutil/set.h"
00034 
00035 #include "ivaria/collider.h"
00036 
00037 struct iCamera;
00038 struct iCollider;
00039 struct iCollideSystem;
00040 struct iEngine;
00041 struct iMeshWrapper;
00042 struct iMovable;
00043 struct iObject;
00044 struct iPolygonMesh;
00045 struct iRegion;
00046 struct iSector;
00047 
00048 struct csCollisionPair;
00049 class csReversibleTransform;
00050 
00051 struct csIntersectingTriangle;
00052 
00053 
00067 class CS_CRYSTALSPACE_EXPORT csColliderWrapper : 
00068   public scfImplementationExt1<csColliderWrapper, 
00069                                csObject,
00070                                scfFakeInterface<csColliderWrapper> >
00071 {
00072 private:
00073   csRef<iCollideSystem> collide_system;
00074   csRef<iCollider> collider;
00075 
00076 public:
00077   SCF_INTERFACE(csColliderWrapper, 2,0,0);
00078 
00079   CS_LEAKGUARD_DECLARE (csColliderWrapper);
00080 
00082   csColliderWrapper (csObject& parent, iCollideSystem* collide_system,
00083         iPolygonMesh* mesh);
00084 
00086   csColliderWrapper (iObject* parent, iCollideSystem* collide_system,
00087         iPolygonMesh* mesh);
00088 
00090   csColliderWrapper (iObject* parent, iCollideSystem* collide_system,
00091         iTerraFormer* terrain);
00092 
00098   csColliderWrapper (iObject* parent, iCollideSystem* collide_system,
00099         iCollider* collider);
00100 
00102   virtual ~csColliderWrapper ();
00103 
00105   iCollider* GetCollider () { return collider; }
00106 
00108   iCollideSystem* GetCollideSystem () { return collide_system; }
00109 
00117   bool Collide (csColliderWrapper& pOtherCollider,
00118                 csReversibleTransform* pThisTransform = 0,
00119                 csReversibleTransform* pOtherTransform = 0);
00124   bool Collide (csObject& otherObject,
00125                 csReversibleTransform* pThisTransform = 0,
00126                 csReversibleTransform* pOtherTransform = 0);
00131   bool Collide (iObject* otherObject,
00132                 csReversibleTransform* pThisTransform = 0,
00133                 csReversibleTransform* pOtherTransform = 0);
00134 
00139   static csColliderWrapper* GetColliderWrapper (csObject& object);
00140 
00145   static csColliderWrapper* GetColliderWrapper (iObject* object);
00146 };
00147 
00151 struct CS_CRYSTALSPACE_EXPORT csTraceBeamResult
00152 {
00154 
00158   csIntersectingTriangle closest_tri;
00163   csVector3 closest_isect;
00167   iMeshWrapper* closest_mesh;
00172   float sqdistance;
00176   iSector* end_sector;
00177 };
00178 
00183 class CS_CRYSTALSPACE_EXPORT csColliderHelper
00184 {
00185 public:
00197   static csColliderWrapper* InitializeCollisionWrapper (iCollideSystem* colsys,
00198         iMeshWrapper* mesh);
00199 
00205   static void InitializeCollisionWrappers (iCollideSystem* colsys,
00206         iEngine* engine, iRegion* region = 0);
00207 
00225   static bool CollideArray (
00226         iCollideSystem* colsys,
00227         iCollider* collider,
00228         const csReversibleTransform* trans,
00229         int num_colliders,
00230         iCollider** colliders,
00231         csReversibleTransform **transforms);
00232 
00269   static int CollidePath (
00270         iCollideSystem* colsys,
00271         iCollider* collider, const csReversibleTransform* trans,
00272         float nbrsteps,
00273         csVector3& newpos,
00274         int num_colliders,
00275         iCollider** colliders,
00276         csReversibleTransform** transforms);
00277 
00301   static float TraceBeam (iCollideSystem* cdsys, iSector* sector,
00302         const csVector3& start, const csVector3& end,
00303         bool traverse_portals,
00304         csIntersectingTriangle& closest_tri,
00305         csVector3& closest_isect,
00306         iMeshWrapper** closest_mesh = 0,
00307         iSector** end_sector = 0);
00308 
00325   static csTraceBeamResult TraceBeam (iCollideSystem* cdsys, iSector* sector,
00326         const csVector3& start, const csVector3& end,
00327         bool traverse_portals);
00328 };
00329 
00334 class CS_CRYSTALSPACE_EXPORT csColliderActor
00335 {
00336 private:
00337   bool revertMove;
00338   bool onground;
00339   bool cd;
00340   csArray<csCollisionPair> our_cd_contact;
00341   float gravity;
00342   iMeshWrapper* mesh;
00343   iCamera* camera;
00344   iMovable* movable;
00345   iCollideSystem* cdsys;
00346   iEngine* engine;
00347   csVector3 velWorld;
00349   csSet<csPtrKey<iMeshWrapper> > hit_meshes;
00350   bool do_hit_meshes;
00351 
00353   csVector3 rotation;
00354 
00355   csRef<iCollider> topCollider;
00356   csRef<iCollider> bottomCollider;
00357   csBox3 boundingBox;
00358   csVector3 shift;
00359   csVector3 topSize;
00360   csVector3 bottomSize;
00361   csVector3 intervalSize;
00362 
00363   int revertCount;
00364 
00379   int CollisionDetect (
00380         iCollider *collider,
00381         iSector* sector,
00382         csReversibleTransform* transform,
00383         csReversibleTransform* old_transform);
00384 
00394   int CollisionDetectIterative (
00395         iCollider *collider,
00396         iSector* sector,
00397         csReversibleTransform* transform,
00398         csReversibleTransform* old_transform, csVector3& maxmove);
00399   bool MoveV (float delta, const csVector3& velBody);
00400   bool RotateV (float delta, const csVector3& angularVelocity);
00401   void InitializeColliders (const csVector3& legs,
00402         const csVector3& body, const csVector3& shift);
00403 
00404 public:
00406   csColliderActor ();
00407 
00409   void SetCollideSystem (iCollideSystem* cdsys)
00410   {
00411     csColliderActor::cdsys = cdsys;
00412   }
00413 
00415   void SetEngine (iEngine* engine)
00416   {
00417     csColliderActor::engine = engine;
00418   }
00419 
00429   void InitializeColliders (iMeshWrapper* mesh, const csVector3& legs,
00430         const csVector3& body, const csVector3& shift);
00431 
00443   void InitializeColliders (iCamera* camera, const csVector3& legs,
00444         const csVector3& body, const csVector3& shift);
00445 
00452   void SetCamera (iCamera* camera, bool adjustRotation = true);
00453 
00457   void SetGravity (float g)
00458   {
00459     gravity = g;
00460     velWorld.y = 0;
00461   }
00462 
00466   float GetGravity () const { return gravity; }
00467 
00471   bool IsOnGround () const { return onground; }
00472 
00476   void SetOnGround (bool og) { onground = og; }
00477 
00481   bool HasCD () const { return cd; }
00482 
00486   void SetCD (bool c) { cd = c; }
00487 
00491   bool CheckRevertMove () const { return revertMove; }
00492 
00499   void EnableHitMeshes (bool hm) { do_hit_meshes = hm; }
00500 
00502   bool CheckHitMeshes () const { return do_hit_meshes; }
00503 
00509   const csSet<csPtrKey<iMeshWrapper> >& GetHitMeshes ()
00510   { return hit_meshes; }
00511 
00524   bool Move (float delta, float speed, const csVector3& velBody,
00525         const csVector3& angularVelocity);
00526 
00531   const csVector3& GetRotation () { return rotation; }
00532 
00537   void SetRotation (const csVector3& rot);
00538 
00544   bool AdjustForCollisions (const csVector3& oldpos,
00545         csVector3& newpos,
00546         const csVector3& vel,
00547         float delta);
00548 };
00549 
00550 #endif // __CS_COLLIDER_H__

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