C++ (Cpp) boxCollision Examples

Example #1

File: Needle.cpp Project: rll/surgical

void Needle::checkBoxAttach() {
	vector<Box*> boxes;
  world->getObjects<Box>(boxes);
  for (int box_ind = 0; box_ind < boxes.size(); box_ind++) {
  	if (!boxes[box_ind]->isNeedleAttached()) {
  		if (!boxes[box_ind]->isThreadAttached() && boxCollision(boxes[box_ind]->getPosition(), boxes[box_ind]->getHalfLength())) {
 	 			boxes[box_ind]->attach(this);
 	 			cout << "needle gets attached to box" << endl;
 	 		}
  	} else {
  		if (!boxCollision(boxes[box_ind]->getPosition(), boxes[box_ind]->getHalfLength())) {
 	 			boxes[box_ind]->dettachNeedle();
 	 			cout << "needle gets dettached from box" << endl;
 	 		}
  	}
  }
}

Example #2

File: zone.cpp Project: thurtt/gameengine

vector<tile*> zone::getTiles(float box_x1, float box_y1, float box_x2, float box_y2)
{
	vector<tile*> pTile;
	vector<tile*> temp_tile;
	int i;
	
	if ( !boxCollision( x, y, x + width, y + height, box_x1, box_y1, box_x2, box_y2 )  &&
		!boxCollision( box_x1, box_y1, box_x2, box_y2, x, y, x + width, y + height ) )
		return pTile;

	
	for (i = 0; i < quads.size(); i++){
		temp_tile = quads[i]->getTiles(box_x1, box_y1, box_x2, box_y2);
		if (temp_tile.size() > 0)
			pTile.insert( pTile.end(),temp_tile.begin(), temp_tile.end());
	}
	
	return pTile;
}

Example #3

File: Needle.cpp Project: rll/surgical

void Needle::setTransformFromEndEffectorBoxConstrained(const Vector3d& new_ee_pos, const Matrix3d& new_ee_rot, Box* box)
{
	Vector3d old_ee_pos;
	Matrix3d old_ee_rot;
	getEndEffectorTransform(old_ee_pos, old_ee_rot);

	Vector3d old_proj = (old_ee_pos - position);
	old_proj.normalize();
	Vector3d proj = (new_ee_pos-position).dot(rotation.col(0))*rotation.col(0) + (new_ee_pos-position).dot(rotation.col(2))*rotation.col(2);
	proj.normalize();

	glColor3f(0.8,0.8,0);
	drawArrow(position, 20*proj);
	glColor3f(0.8,0,0);
	drawArrow(position, 20*old_proj);

	Vector3d normal = proj.cross(old_proj);
	normal.normalize();

	double angle = angle_between(proj, old_proj)*180.0/M_PI;
	if (angle > 90.0) {
		angle = 0.0;
		//TODO return;
	} else {
		double sign = ((normal - rotation.col(1)).squaredNorm() < 1e-5) ? -1 : 1;
		angle = sign*min(angle_between(proj, old_proj)*180.0/M_PI, 5.0);
	}

	if (!isnan(angle) && abs(angle)>1e-5 && angle>0.0) { //TODO for now, only allows forward movement of needle through box
		rotateAboutAxis(angle);
		if(isThreadAttached()) {
			thread->updateConstrainedTransform(constraint_ind, getEndPosition(), getEndRotation());
		}
	}
	
	if (isThreadAttached()) {
		Vector3d direction;
		if (!box->isThreadAttached() && (sphereBoxDistance(getEndPosition(), getThicknessRadius(), box->getPosition(), box->getHalfLength(), direction) < 0)) {
		  cout << "thread gets into the box" << endl;
		  //box->attach(getThread());
			box->attachThreadIn(getThread(), getEndPosition(), getEndRotation());
		}
		if (box->isThreadAttached() && !boxCollision(box->getPosition(), box->getHalfLength())) {
		  cout << "thread gets out of the box" << endl;
		  box->attachThreadOut(getThread(), getEndPosition(), getEndRotation());
		}
	}
}