cCollisionSpheres Class Reference
[Collision Detection]

cCollisionSpheres provides methods to create a sphere tree for collision detection, and to use this tree to check for the intersection of a line with a mesh. More...

#include <CCollisionSpheres.h>

Inheritance diagram for cCollisionSpheres:

[legend]

List of all members.

Public Member Functions
	cCollisionSpheres (vector< cTriangle > *a_triangles, bool a_useNeighbors)
	Constructor of cCollisionSpheres.
virtual	~cCollisionSpheres ()
	Destructor of cCollisionSpheres.
void	initialize (double a_radius=0)
	Build the sphere tree based on the given triangles.
void	render ()
	Draw the collision spheres in OpenGL.
bool	computeCollision (cVector3d &a_segmentPointA, cVector3d &a_segmentPointB, cCollisionRecorder &a_recorder, cCollisionSettings &a_settings)
	Return the nearest triangle intersected by the given segment, if any.
Public Attributes
cCollisionSpheresSphere *	m_root
	Pointer to the sphere at the root of the sphere tree.
vector< cTriangle > *	m_trigs
	Pointer to the list of triangles in the mesh.
cTriangle *	m_lastCollision
	Triangle returned by last successful collision test.
bool	m_useNeighbors
	Use neighbor list to speed up collision detection?
cCollisionSpheresLeaf *	m_firstLeaf
	Pointer to the beginning of list of leaf nodes.
cTriangle *	secret
	For internal and debug usage.

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Detailed Description

cCollisionSpheres provides methods to create a sphere tree for collision detection, and to use this tree to check for the intersection of a line with a mesh.

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Constructor & Destructor Documentation

cCollisionSpheres::cCollisionSpheres	(	vector< cTriangle > *	a_triangles,
		bool	a_useNeighbors
	)

Constructor of cCollisionSpheres.

Constructor of cCollisionSpheres.

Parameters:

	a_triangles	Pointer to array of triangles.
	a_useNeighbors	Use neighbor lists to speed up collision detection?

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Member Function Documentation

bool cCollisionSpheres::computeCollision	(	cVector3d &	a_segmentPointA,
		cVector3d &	a_segmentPointB,
		cCollisionRecorder &	a_recorder,
		cCollisionSettings &	a_settings
	)			[virtual]

Return the nearest triangle intersected by the given segment, if any.

Check if the given line segment intersects any triangle of the mesh. If so, return true, as well as (through the output parameters) pointers to the intersected triangle, the mesh of which this triangle is a part, the point of intersection, and the distance from the origin of the segment to the collision point. If more than one triangle is intersected, return the one closest to the origin of the segment. The method uses the pre-computed sphere tree, starting at the root and recursing through the tree, breaking the recursion along any path in which the sphere bounding the line segment does not intersect the sphere of the node. At the leafs, triangle-segment intersection testing is called.

Parameters:

	a_segmentPointA	Initial point of segment.
	a_segmentPointB	End point of segment.
	a_recorder	Stores all collision events
	a_settings	Contains collision settings information.

Returns:

Return true if a collision event has occurred.

Reimplemented from cGenericCollision.

void cCollisionSpheres::initialize

(

double

a_radius = 0

)

[virtual]

Build the sphere tree based on the given triangles.

Build the Sphere Tree collision-detection tree. Each leaf is associated with one triangle and with a bounding sphere of minimal radius such that it fully encloses the triangle. Each internal node is associated with a bounding sphere of minimal radius such that it fully encloses the bounding spheres of its two children.

Parameters:

a_radius

radius to add around the triangles.

Reimplemented from cGenericCollision.

void cCollisionSpheres::render

(

)

[virtual]

Draw the collision spheres in OpenGL.

Draw the collision spheres at the given level.

Reimplemented from cGenericCollision.

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

• D:/CHAI3D/build-2-0-0/2.0.0/win32/src/collisions/CCollisionSpheres.h
• D:/CHAI3D/build-2-0-0/2.0.0/win32/src/collisions/CCollisionSpheres.cpp