[Teleus-cvs] teleus/src/obj collision.cpp,NONE,1.1 collision.hpp,NONE,1.1 sphere.cpp,NONE,1.1 sphere

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Update of /cvsroot/teleus/teleus/src/obj
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16978/src/obj

Added Files:
	collision.cpp collision.hpp sphere.cpp sphere.hpp 
Log Message:
Added obj::Sphere and obj::Collision classes.

--- NEW FILE: sphere.cpp ---
/*
 * Teleus Space Combat Simulator
 * Copyright 2004 Daniel Royer
 * sp...@us...
 * http://teleus.sf.net
 *
 * This package is free software; you can redistribute it and/or
 * modify it under the terms of the Teleus Artistic License as
 * detailed on the Teleus website.
 *
 * THIS PACKAGE IS PROVIDED "AS IS" AND WITHOUT ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, WITHOUT LIMITATION, THE IMPLIED
 * WARRANTIES OF MERCHANTIBILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE.
 *
 * A copy of the Teleus Artistic License is provided along with
 * this source code package.  You can also find a copy at or
 * http://teleus.sf.net/license.php
 *
 */

/*
 * $Revision: 1.1 $
 * $Date: 2004/05/25 23:08:09 $
 */

#include "sphere.hpp"
#include "object.hpp"
#include "ship.hpp"
#include "math/vector.hpp"
#include "math/geometry.hpp"
#include "gfx/gfx.hpp"
#include "gfx/color.hpp"
#include "debug.hpp"

namespace teleus {
namespace obj {

Sphere::Sphere (float radius, const gfx::Color3f& color,
		unsigned int slices, unsigned int stacks,
		const Vector3d& pos, const Vector3d& vel)
 : Ship(), mColor (color), mGeometry(slices, stacks)
{
	setRadius(radius);
	setPos(pos);
	setVel (vel);
}

Sphere::Sphere (float radius, const gfx::Color3f& color,
	const Vector3d& pos, const Vector3d& vel)
 : Ship(), mColor (color), mGeometry(12, 12)
{
	setRadius(radius);
	setPos(pos);
	setVel (vel);
}

Sphere::~Sphere () {/* geometry is deleted in ~ApproxSphere() */ }

void Sphere::setStacks (unsigned int /*stacks*/) {

	//mGeometry = math::ApproxSphere(mGeometry.slices(), stacks);
	#warning Sphere::setStacks() not written
	assertNotReached();

}

unsigned int Sphere::stacks () const {

	return mGeometry.stacks();
}

void Sphere::setSlices (unsigned int /*slices*/) {

	#warning Sphere::setSlices() not written
	assertNotReached();
}

unsigned int Sphere::slices () const {

	return mGeometry.slices();
}

void Sphere::setGeometry (const math::ApproxSphere& /*copy*/) {

	#warning Sphere::setGeometry() not written
	assertNotReached();
}

const math::ApproxSphere Sphere::geometry() const {

	return mGeometry;
}

/**
 * \brief Updates the physics
 *
 * Updates the location and orientation of the object using
 * parent class methods.
 *
 * \param timeInc the time increment in seconds
 *
 * \author Daniel Royer
 */
void Sphere::updatePhysics (double timeInc){

	//resetForces();
	Ship::updatePhysics(timeInc);

}

/**
 * \brief Changes this object's color.
 *
 * \param c the new color
 * \author Daniel Royer
 */
void Sphere::setColor (const gfx::Color3f& c){
	mColor = c;
}

/**
 * \brief Returns this object's color
 *
 * \returns this object's color
 * \author Daniel Royer
 */
const gfx::Color3f& Sphere::color () const{
	return mColor;
}

/**
 * \class obj::Sphere obj/sphere.hpp "obj/cube.hpp"
 * \brief A spherical object
 *
 * This is just a temporary class that I am using to test the
 * collision detection and response part of the engine.
 *
 * \author Daniel Royer
 */

} // END NAMESPACE obj
} // END NAMESPACE teleus

/**
 * \file obj/sphere.cpp
 * \brief The source file for the obj::Sphere class.
 *	\author Daniel Royer
 */

/**
 * \file obj/sphere.hpp
 * \brief The header file for the obj::Sphere class.
 * \author Daniel Royer
 */

--- NEW FILE: sphere.hpp ---
/*
 * Teleus Space Combat Simulator
 * Copyright 2004 Daniel Royer
 * sp...@us... 
 * http://teleus.sf.net
 *
 * This package is free software; you can redistribute it and/or
 * modify it under the terms of the Teleus Artistic License as
 * detailed on the Teleus website.
 * 
 * THIS PACKAGE IS PROVIDED "AS IS" AND WITHOUT ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, WITHOUT LIMITATION, THE IMPLIED
 * WARRANTIES OF MERCHANTIBILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE.
 *
 * A copy of the Teleus Artistic License is provided along with
 * this source code package.  You can also find a copy at or
 * http://teleus.sf.net/license.php
 *
 */

/*
 * $Revision: 1.1 $
 * $Date: 2004/05/25 23:08:09 $
 */

#ifndef TELEUS_SPHERE_OBJECT_HEADER
#define TELEUS_SPHERE_OBJECT_HEADER 1

#include "object.hpp"
#include "ship.hpp"
#include "gfx/gfx.hpp"
#include "gfx/color.hpp"
#include "math/geometry.hpp"

namespace teleus {
namespace obj {

class Sphere : public Ship {

	protected:

		gfx::Color3f mColor;
		math::ApproxSphere mGeometry;

	public:

		Sphere (float radius, const gfx::Color3f& color,
			unsigned int slices, unsigned int stacks,
			const Vector3d& pos, const Vector3d& vel);

		Sphere (float radius, const gfx::Color3f& color,
			const Vector3d& pos, const Vector3d& vel);

		virtual ~Sphere ();
		virtual void updatePhysics (const double timeInc);

		void setColor (const gfx::Color3f&);
		const gfx::Color3f& color () const;

		void setStacks (unsigned int stacks);
		unsigned int stacks () const;

		void setSlices (unsigned int slices);
		unsigned int slices () const;

		void setGeometry (const math::ApproxSphere&);
		const math::ApproxSphere geometry() const;

};

} // END NAMESPACE obj
} // END NAMESPACE teleus

#endif

--- NEW FILE: collision.cpp ---
/*
 * Teleus Space Combat Simulator
 * Copyright 2004 Daniel Royer
 * sp...@us...
 * http://teleus.sf.net
 *
 * This package is free software; you can redistribute it and/or
 * modify it under the terms of the Teleus Artistic License as
 * detailed on the Teleus website.
 *
 * THIS PACKAGE IS PROVIDED "AS IS" AND WITHOUT ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, WITHOUT LIMITATION, THE IMPLIED
 * WARRANTIES OF MERCHANTIBILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE.
 *
 * A copy of the Teleus Artistic License is provided along with
 * this source code package.  You can also find a copy at or
 * http://teleus.sf.net/license.php
 *
 */

/*
 * $Revision: 1.1 $
 * $Date: 2004/05/25 23:08:09 $
 */

#include "collision.hpp"
#include "object.hpp"
#include "math/vector.hpp"
#include "debug.hpp"

namespace teleus {
namespace obj {

Collision::Collision ()
 : mRefObj(0), mColObj(0), mStatus(Collision::NONE) {}
Collision::Collision (Object* ref, Object* col)
 : mRefObj(ref), mColObj(col)
{
	calcCollision();
}

Collision::Collision (const Collision& copy)
 : mRefObj(copy.mRefObj), mColObj(copy.mColObj),
 	mNormal(copy.mNormal), mPoint(copy.mPoint),
	mTangent(copy.mTangent), mRelVel(copy.mRelVel),
	mRelAccel(copy.mRelAccel), mStatus(copy.mStatus)
{
	// TODO: Maybe it would be a good idea to validate the new
	// values?
}

const Object* Collision::refObj () const { return mRefObj; }
const Object* Collision::colObj () const { return mColObj; }

const Vector3d& Collision::normal() const { return mNormal; }
const Vector3d& Collision::point() const { return mPoint; }
const Vector3d& Collision::tangent() const { return mTangent; }
const Vector3d& Collision::relVel() const { return mRelVel; }
const Vector3d& Collision::relAccel() const { return mRelAccel; }
Collision::STATUS Collision::status() const { return mStatus; }
bool Collision::colliding() const { return mStatus == CONTACT; }
bool Collision::penetrating () const { return mStatus == PENETRATION; }
bool Collision::touching () const { return colliding() || penetrating(); }

void Collision::setRefObj (Object * ref) {

	mRefObj = ref;
	calcCollision();
}

void Collision::setColObj (Object * col) {

	mColObj = col;
	calcCollision ();
}

void Collision::calcCollision() {

	#warning Collision::calcCollision() not written yet
	assertNotReached();

	// First, we reset the collision data.
	zeroData();

	// we need to make sure we have two non-null objects
	// to check.
	if (mRefObj == 0 || mColObj == 0){

		return;
	}

	// The bounding spheres intersect.  There _may_ be a collision,
	// so we must run some further checks.

	// TODO:
	// Check objects' geometries to see if they are colliding or penetrating.
	// Calculate the collision normal
	// Calculate the collision point
	// Calculate the collision tangent
	// Calculate the relative velocity of the collision object
	// Calculate the relative acceleration of the collision object
}

void Collision::zeroData() {

	mNormal.zero();
	mPoint.zero();
	mTangent.zero();
	mRelVel.zero();
	mRelAccel.zero();
	mStatus = Collision::NONE;
}

bool Collision::boundingSphereCheck (const Object& a, const Object& b) {

	//
	// from http://www.gamedev.net/reference/articles/article1234.asp
	//

	// TODO: This method doesn't work as written.  We need to add
	// a check to see if the objects passed completely through
	// each other in a single time step.  For example, consider
	// two spheres of radius 50 traveling toward each other from
	// starting points 1200 units apart at a velocity of 10,000
	// units each.  In a single time step of greater than 0.06
	// seconds, the objects will have passed completely through
	// each other and this collision detection scheme won't even
	// have noticed. 
	//
	// Not to worry, though.  A simple solution is to use the
	// last position, stored in PointMass, and see if a line from
	// it to the current position intersects the path of the
	// other object to within bounding-sphere tolerance.

	Vector3d relVel = b.vel() - a.vel();
	Vector3d relPos = b.pos() - a.pos();
	double minDist = a.radius() + b.radius();
	double pp = relPos.lengthSquared() - (minDist * minDist);
	/*if (pp < 0.0){
		DEBUG_PRINT ("Collision::boundingSphereCheck() true by pp\n");
		return true;
	}*/

	return pp <= 0.0;
/*
	double pv = relPos.x * relVel.x + relPos.y * relVel.y + relPos.z * relVel.z;
	if (pv >= 0.0){
		DEBUG_PRINT ("Collision::boundingSphereCheck() true by pv\n");
		return false;
	}

	double vv = relVel.lengthSquared();
	if ( (pv + vv) <= 0.0 && (vv + 2.0 * pv + pp) >= 0){
		DEBUG_PRINT ("Collision::boundingSphereCheck() false\n");
		return false;
	}

	double tmin = -pv / vv;
	return (pp + pv * tmin > 0.0);*/

}

} // END NAMESPACE obj
} // END NAMESPACE teleus

--- NEW FILE: collision.hpp ---
/*
 * Teleus Space Combat Simulator
 * Copyright 2004 Daniel Royer
 * sp...@us...
 * http://teleus.sf.net
 *
 * This package is free software; you can redistribute it and/or
 * modify it under the terms of the Teleus Artistic License as
 * detailed on the Teleus website.
 *
 * THIS PACKAGE IS PROVIDED "AS IS" AND WITHOUT ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, WITHOUT LIMITATION, THE IMPLIED
 * WARRANTIES OF MERCHANTIBILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE.
 *
 * A copy of the Teleus Artistic License is provided along with
 * this source code package.  You can also find a copy at or
 * http://teleus.sf.net/license.php
 *
 */

/*
 * $Revision: 1.1 $
 * $Date: 2004/05/25 23:08:09 $
 */

#ifndef TELEUS_OBJECT_COLLISION_HEADER
#define TELEUS_OBJECT_COLLISION_HEADER 1

#include "object.hpp"
#include "math/vector.hpp"

namespace teleus {
namespace obj {

using math::Vector3d;

class Collision {

	public:

		enum STATUS{NONE, CONTACT, PENETRATION};

	private:

		Object *mRefObj;
		Object *mColObj;

		Vector3d mNormal;
		Vector3d mPoint;
		Vector3d mTangent;
		Vector3d mRelVel;
		Vector3d mRelAccel;

		STATUS mStatus;

		void calcCollision();
		void zeroData();

	public:

		Collision ();
		Collision (Object*, Object*);
		Collision (const Collision&);

		const Object* refObj () const;
		const Object* colObj () const;

		const Vector3d& normal() const;
		const Vector3d& point() const;
		const Vector3d& tangent() const;
		const Vector3d& relVel() const;
		const Vector3d& relAccel() const;
		STATUS status() const;

		bool colliding() const;
		bool penetrating () const;
		bool touching () const;

		void setRefObj (Object *);
		void setColObj (Object *);

		// TODO: More methods:
		// update
		// impulse force

		static bool boundingSphereCheck (const Object& a, const Object& b);

};

} // END NAMESPACE obj
} // END NAMESPACE teleus

#endif

[Teleus-cvs] teleus/src/obj collision.cpp,NONE,1.1 collision.hpp,NONE,1.1 sphere.cpp,NONE,1.1 sphere

[Teleus-cvs] teleus/src/obj collision.cpp,NONE,1.1 collision.hpp,NONE,1.1 sphere.cpp,NONE,1.1 sphere.hpp,NONE,1.1