collision.hpp File Reference

#include "body.hpp"

Go to the source code of this file.

Classes
struct	Query
	A data structure to get data received from a collision. More...

Enumerations
enum	QueryType { EDGE_AB =0, FACE_AB =1, FACE_BA =2 }

Functions
unsigned int	getSupport (CollisionBody &hull, vec3 n)
	Find furthest vertex along normal, n, and return its index into hull.a_bounding_vertices. More...
bool	cylinderBoxCollision (const CollisionBody &cyl, const CollisionBody &obb)
	Check collision between a BodyType::CYLINDER CollisionBody and a BodyType::BOX CollisionBody. More...
bool	sphereBoxCollision (const CollisionBody &hullA, vec3 closest_pt)
	Check collision between a CollisionBody and a sphere. More...
bool	sphereSphereCollision (const CollisionBody &hullA, const CollisionBody &hullB)
	Check collision between a sphere and a sphere. More...
bool	sphereCylinderCollision (const CollisionBody &body_a, vec3 closest_pt)
	Check collision between a sphere and a cylinder. More...
bool	SAT (CollisionBody &hullA, CollisionBody &hullB, Query &query)
	Check collision between a CollisionBody and a CollisionBody. More...
vec3	closestPointOnCylinder (vec3 p, const CollisionBody &cylinder)
	Return the closest point on a cylinder, to another point, p. More...
Query	queryFaceDirections (CollisionBody &hullA, CollisionBody &hullB)
Query	queryEdgeDirections (CollisionBody &hullA, CollisionBody &hullB)
	Query for Edge collisions in SAT. More...
float	rayOBBIntersect (vec3 origin, vec3 direction, mat3 obb_orientation)
	Ray OBB intersection function, returns a float along the vector origin + t * direction = contact_point. More...

Variables
float	depth_epsilon

Enumeration Type Documentation

QueryType

enum QueryType

Enumerator
EDGE_AB
FACE_AB
FACE_BA

Function Documentation

closestPointOnCylinder()

vec3 closestPointOnCylinder	(	vec3	p,
		const CollisionBody &	cylinder
	)

Return the closest point on a cylinder, to another point, p.

cylinderBoxCollision()

bool cylinderBoxCollision	(	const CollisionBody &	cyl,
		const CollisionBody &	obb
	)

Check collision between a BodyType::CYLINDER CollisionBody and a BodyType::BOX CollisionBody.

getSupport()

unsigned int getSupport	(	CollisionBody &	hull,
		vec3	n
	)

Find furthest vertex along normal, n, and return its index into hull.a_bounding_vertices.

queryEdgeDirections()

Query queryEdgeDirections	(	CollisionBody &	hullA,
		CollisionBody &	hullB
	)

Query for Edge collisions in SAT.

queryFaceDirections()

Query queryFaceDirections	(	CollisionBody &	hullA,
		CollisionBody &	hullB
	)

Todo:

Query for Face collisions in SAT.

rayOBBIntersect()

float rayOBBIntersect	(	vec3	origin,
		vec3	direction,
		mat3	obb_orientation
	)

Ray OBB intersection function, returns a float along the vector origin + t * direction = contact_point.

SAT()

bool SAT	(	CollisionBody &	hullA,
		CollisionBody &	hullB,
		Query &	query
	)

Check collision between a CollisionBody and a CollisionBody.

sphereBoxCollision()

bool sphereBoxCollision	(	const CollisionBody &	hullA,
		vec3	closest_pt
	)

Check collision between a CollisionBody and a sphere.

sphereCylinderCollision()

bool sphereCylinderCollision	(	const CollisionBody &	body_a,
		vec3	closest_pt
	)

Check collision between a sphere and a cylinder.

sphereSphereCollision()

bool sphereSphereCollision	(	const CollisionBody &	hullA,
		const CollisionBody &	hullB
	)

Check collision between a sphere and a sphere.

Variable Documentation

depth_epsilon

float depth_epsilon