CCollisionBasics.h

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//==============================================================================
/*
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    \author    <http://www.chai3d.org>
    \author    Chris Sewell
    \author    Charity Lu
    \author    Francois Conti
    \version   3.2.0 $Rev: 1869 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef CCollisionBasicsH
#define CCollisionBasicsH
//------------------------------------------------------------------------------
#include "math/CVector3d.h"
#include "math/CMatrix3d.h"
#include "graphics/CPointArray.h"
#include "graphics/CSegmentArray.h"
#include "graphics/CTriangleArray.h"
#include "materials/CMaterial.h"
//------------------------------------------------------------------------------
#include <vector>
//------------------------------------------------------------------------------
namespace chai3d {
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================

enum cCollisionType
{
    C_COL_NOT_DEFINED,
    C_COL_SHAPE,
    C_COL_POINT,
    C_COL_SEGMENT,
    C_COL_TRIANGLE,
    C_COL_VOXEL
};


//==============================================================================
//==============================================================================
struct cCollisionEvent
{
    cCollisionType m_type;

    cGenericObject* m_object;

    cPointArrayPtr m_points;

    cSegmentArrayPtr m_segments;

    cTriangleArrayPtr m_triangles;

    int m_index;

    int m_voxelIndexX;

    int m_voxelIndexY;

    int m_voxelIndexZ;

    cVector3d m_localPos;

    cVector3d m_globalPos;

    cVector3d m_localNormal;

    cVector3d m_globalNormal;

    double m_squareDistance;

    double m_posV01;

    double m_posV02;

    cVector3d m_adjustedSegmentAPoint;

    void clear()
    {
        m_type              = C_COL_NOT_DEFINED;
        m_object            = NULL;
        m_points            = nullptr;
        m_segments          = nullptr;
        m_triangles         = nullptr;
        m_index             = -1;
        m_voxelIndexX       = -1;
        m_voxelIndexY       = -1;
        m_voxelIndexZ       = -1;
        m_localPos.zero();
        m_globalPos.zero();
        m_localNormal.zero();
        m_globalNormal.zero();
        m_squareDistance    = C_LARGE;
        m_squareDistance    = C_LARGE;
        m_posV01            = 0.0;
        m_posV02            = 0.0;
    }
};


//==============================================================================
//==============================================================================
class cCollisionRecorder
{
    //--------------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //--------------------------------------------------------------------------

public:

    cCollisionRecorder() { clear(); }

    virtual ~cCollisionRecorder() {};


    //--------------------------------------------------------------------------
    // PUBLIC METHODS:
    //--------------------------------------------------------------------------

public:

    void clear()
    {
        m_nearestCollision.clear();
        m_collisions.clear();
    }


    //--------------------------------------------------------------------------
    // MEMBERS:
    //--------------------------------------------------------------------------

public:

    cCollisionEvent m_nearestCollision;

    std::vector<cCollisionEvent> m_collisions;
};


//==============================================================================
//==============================================================================
struct cCollisionSettings
{
    cCollisionSettings()
    {
        m_checkForNearestCollisionOnly  = true;
        m_returnMinimalCollisionData    = false;
        m_checkVisibleObjects           = true;
        m_checkHapticObjects            = true;
        m_adjustObjectMotion            = false;
        m_ignoreShapes                  = false;
        m_collisionRadius               = 0.0;
    }

    bool m_checkForNearestCollisionOnly;

    bool m_returnMinimalCollisionData;

    bool m_checkVisibleObjects;

    bool m_checkHapticObjects;

    bool m_adjustObjectMotion;

    bool m_ignoreShapes;

    double m_collisionRadius;
};

//------------------------------------------------------------------------------
}   // namespace chai3d
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
#endif
//------------------------------------------------------------------------------