Введение в дискретно-ориентированные многогранники для задачи определения столкновений.
Simple implementation of BVH-tree using k-DOP as a bounding volume for Collision Detection task. Bhv3 is a binary tree that allows to search collided object elements effectively.
Discrete Orientation Polytopes - the bounding volume that provides an ability to reduce cost of collision detection. Is a convex polytope bounded by k hyperplanes with fixed orientations.
Only 16, 18 and 24 planes have been implemented there.
$ cmake .; make
Run a test:
$ ./bvh3/tests/NodeTest
Two different dots should not collide (16 - is a number of planes):
KDop<16> bv1({3, 1, 0});
KDop<16> bv2({1, 5, 0});
EXPECT_FALSE(bv1.overlapped(bv2));
Creating one k-DOP from two:
KDop<16> bv1({3, 1, 0});
KDop<16> bv2({1, 5, 0});
bv1 += bv2;
Creating a tree:
TVertices vertex1 =
{
{3, 1, 0}
};
TVertices vertex2 =
{
{3, 3, 0}
};
auto root1 = buildTree<KDop<16> >(vertex1);
auto root2 = buildTree<KDop<16> >(vertex2);
TNodeKDop16::TCollidedNodes output;
// No collision found
bool found = root1->collided(root2, output);
EXPECT_FALSE(found);
delete root1;
delete root2;
Unfortunatelly line collided with just a dot:
TVertices vertices1 =
{
{3, 1, 0},
{1, 5, 0}
};
TVertices vertices2 =
{
{3, 3, 0}
};
auto root1 = buildTree<KDop<16> >(vertices1);
auto root2 = buildTree<KDop<16> >(vertices2);
TNodeKDop16::TCollidedNodes output;
bool found = root1->collided(root2, output);
EXPECT_TRUE(found);
delete root1;
delete root2;