bool SSVTreeCollider::Collide(const AABBCollisionTree* tree0,
const AABBCollisionTree* tree1,
const Matrix4x4* world0, const Matrix4x4* world1,
Pair* cache, double tolerance)
{
// Init collision query
InitQuery(world0, world1);
// todo : cache should be used
// Perform collision detection
if (_Collide(tree0->GetNodes(), tree1->GetNodes(), tolerance)){
// update cache
cache->id0 = mId0;
cache->id1 = mId1;
return true;
}
return false;
}
void SSVTreeCollider::Distance(const AABBCollisionTree* tree0,
const AABBCollisionTree* tree1,
const Matrix4x4* world0, const Matrix4x4* world1,
Pair* cache, float& minD, Point &point0, Point&point1)
{
if (debug) std::cout << "Distance()" << std::endl;
// Init collision query
InitQuery(world0, world1);
// Compute initial value using temporal coherency
// todo : cache should be used
const AABBCollisionNode *n;
for (unsigned int i=0; i<tree0->GetNbNodes(); i++){
n = tree0->GetNodes()+i;
if (n->IsLeaf()){
mId0 = n->GetPrimitive();
break;
}
}
for (unsigned int i=0; i<tree1->GetNbNodes(); i++){
n = tree1->GetNodes()+i;
if (n->IsLeaf()){
mId1 = n->GetPrimitive();
break;
}
}
Point p0, p1;
minD = PrimDist(mId0, mId1, p0, p1);
// Perform distance computation
_Distance(tree0->GetNodes(), tree1->GetNodes(), minD, p0, p1);
// transform points
TransformPoint4x3(point0, p0, *world1);
TransformPoint4x3(point1, p1, *world1);
// update cache
cache->id0 = mId0;
cache->id1 = mId1;
}
Query::Query(std::string strTable, std::string strCondition, cell connectionHandle, unsigned short type)
: m_strCondition(strCondition), m_nConnectionHandle(connectionHandle), m_nType(type)
{
InitQuery(type, strTable);
}
