Michel Selten
581c0f232c
This is a direct copy from the CD-ROM contents except for the generated libraries for the Windows platform. If needed, I can add those later on. (Those take up over 800 kb). All files, including license files, documentation, examples and sources are committed.
95 lines
3.5 KiB
C++
Executable File
95 lines
3.5 KiB
C++
Executable File
/*
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* SOLID - Software Library for Interference Detection
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*
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* Copyright (C) 2001-2003 Dtecta. All rights reserved.
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*
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* This library may be distributed under the terms of the Q Public License
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* (QPL) as defined by Trolltech AS of Norway and appearing in the file
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* LICENSE.QPL included in the packaging of this file.
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*
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* This library may be distributed and/or modified under the terms of the
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* GNU General Public License (GPL) version 2 as published by the Free Software
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* Foundation and appearing in the file LICENSE.GPL included in the
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* packaging of this file.
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*
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* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Commercial use or any other use of this library not covered by either
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* the QPL or the GPL requires an additional license from Dtecta.
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* Please contact info@dtecta.com for enquiries about the terms of commercial
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* use of this library.
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*/
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#ifndef DT_COMPLEX_H
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#define DT_COMPLEX_H
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#include <algorithm>
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#include "MT_Transform.h"
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#include "DT_VertexBase.h"
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#include "DT_Shape.h"
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#include "DT_CBox.h"
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#include "DT_BBoxTree.h"
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class DT_Convex;
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class DT_Complex : public DT_Shape {
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public:
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DT_Complex(const DT_VertexBase *base);
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virtual ~DT_Complex();
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void finish(DT_Count n, const DT_Convex *p[]);
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virtual DT_ShapeType getType() const { return COMPLEX; }
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virtual MT_BBox bbox(const MT_Transform& t, MT_Scalar margin) const;
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virtual bool ray_cast(const MT_Point3& source, const MT_Point3& target,
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MT_Scalar& lambda, MT_Vector3& normal) const;
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void refit();
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friend bool intersect(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
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const DT_Convex& b, MT_Vector3& v);
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friend bool intersect(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
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const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
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MT_Vector3& v);
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friend bool common_point(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
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const DT_Convex& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
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friend bool common_point(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
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const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
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MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
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friend bool penetration_depth(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
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const DT_Convex& b, MT_Scalar b_margin, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
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friend bool penetration_depth(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
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const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
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MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
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friend MT_Scalar closest_points(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
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const DT_Convex& b, MT_Point3& pa, MT_Point3& pb);
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friend MT_Scalar closest_points(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
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const DT_Complex& b, const MT_Transform& b2w, MT_Scalar b_margin,
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MT_Point3& pa, MT_Point3& pb);
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const DT_VertexBase *m_base;
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DT_Count m_count;
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const DT_Convex **m_leaves;
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DT_BBoxNode *m_nodes;
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DT_CBox m_cbox;
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DT_BBoxTree::NodeType m_type;
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};
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#endif
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