sp::math::CollisionLibrary Namespace Reference

Here you will find each function for collision detection, distance computation and intersection tests. More...

Functions
SP_EXPORT dim::vector3df	getClosestPoint (const dim::triangle3df &Triangle, const dim::vector3df &Point)
SP_EXPORT bool	getClosestPointStraight (const dim::triangle3df &Triangle, const dim::vector3df &Point, dim::vector3df &PointOnTriangle)
SP_EXPORT dim::vector3df	getClosestPoint (const dim::aabbox3df &Box, const dim::vector3df &Point)
SP_EXPORT dim::vector3df	getClosestPoint (const dim::aabbox3df &Box, const dim::vector3df &Point, dim::vector3df &Normal)
SP_EXPORT dim::vector3df	getClosestPoint (const dim::obbox3df &Box, const dim::vector3df &Point)
SP_EXPORT dim::line3df	getClosestLine (const dim::triangle3df &Triangle, const dim::line3df &Line)
SP_EXPORT bool	getClosestLineStraight (const dim::triangle3df &Triangle, const dim::line3df &Line, dim::line3df &LineToTriangle)
SP_EXPORT dim::line3df	getClosestLine (const dim::quadrangle3df &Quadrangle, const dim::line3df &Line)
SP_EXPORT dim::line3df	getClosestLine (const dim::aabbox3df &Box, const dim::line3df &Line)
SP_EXPORT f32	getPointBoxDistanceSq (const dim::obbox3df &Box, const dim::vector3df &Point)
	Computes the squared distance between the given box and point.
SP_EXPORT f32	getLineBoxDistanceSq (const dim::aabbox3df &Box, const dim::line3df &Line)
SP_EXPORT f32	getLineLineDistanceSq (const dim::line3df &LineA, const dim::line3df &LineB, dim::vector3df &PointP, dim::vector3df &PointQ)
SP_EXPORT bool	getLineLineIntersection (const dim::line3df &LineA, const dim::line3df &LineB, dim::vector3df &Intersection)
SP_EXPORT dim::point2df	get2DLineLineIntersectionStraight (const dim::point2df &A, const dim::point2df &B, const dim::point2df &C, const dim::point2df &D)
SP_EXPORT bool	checkLineTriangleIntersection (const dim::triangle3df &Triangle, const dim::line3df &Line, dim::vector3df &Intersection)
SP_EXPORT bool	checkLineSphereIntersection (const dim::line3df &Line, const dim::vector3df &SpherePosition, const f32 SphereRadius, dim::vector3df &Intersection, bool MakeRayTest)
SP_EXPORT bool	checkLineBoxIntersection (const dim::line3df &Line, const dim::aabbox3df &Box, dim::vector3df &Intersection, bool MakeRayTest)
SP_EXPORT bool	checkTriangleTriangleIntersection (const dim::triangle3df &TriangleA, const dim::triangle3df &TriangleB, dim::line3df &Intersection)
SP_EXPORT bool	checkLineBoxOverlap (const dim::line3df &Line, const dim::aabbox3df &Box)
	Returns true if an intersection between "Line" and "Box" has been detected.
SP_EXPORT bool	checkPlaneBoxOverlap (const dim::plane3df &Plane, const dim::aabbox3df &Box)
	Returns true if an intersection between "Plane" and "Box" has been detected.
SP_EXPORT bool	checkTriangleBoxOverlap (const dim::triangle3df &Triangle, const dim::aabbox3df &Box)
	Returns true if an intersection between "Triangle" and "Box" has been detected.
SP_EXPORT bool	checkOBBoxOBBoxOverlap (const dim::obbox3df &BoxA, const dim::obbox3df &BoxB)
bool	checkPyramidPyramidOverlap (const dim::vector3df &OriginA, const scene::ViewFrustum &FrustumA, const dim::vector3df &OriginB, const scene::ViewFrustum &FrustumB)
f32	getPointBoxDistance (const dim::obbox3df &Box, const dim::vector3df &Point)
	Computes the distance between the given box and point.
f32	getLineBoxDistance (const dim::aabbox3df &Box, const dim::line3df &Line)
	Computes the distance between the given box and line.
f32	getLineLineDistance (const dim::line3df &LineA, const dim::line3df &LineB, dim::vector3df &PointP, dim::vector3df &PointQ)
	Returns the square root of the result of the getLineLineDistanceSq function.
template<typename T , typename C >
bool	getLinePlaneIntersection (const dim::plane3d< T > &Plane, const C &LineStart, const C &LineEnd, C &Intersection)
template<typename T , typename C >
bool	clipPolygon (const dim::polygon< C > &Poly, const dim::plane3d< T > &Plane, dim::polygon< C > &FrontPoly, dim::polygon< C > &BackPoly)

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Detailed Description

Here you will find each function for collision detection, distance computation and intersection tests.

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Function Documentation

SP_EXPORT bool sp::math::CollisionLibrary::checkLineBoxIntersection	(	const dim::line3df &	Line,
		const dim::aabbox3df &	Box,
		dim::vector3df &	Intersection,
		bool	MakeRayTest = false
	)

Tests if a line intersects with an axis aligned bounding box.

Parameters:

[in]	Line	3D line for the test.
[in]	Box	3D AABB (Axis Aligned Bounding Box) for the test. In this case you can not transform the box (e.g. for rotations). Make an inverse transformation to the line.
[out]	Intersection	Resulting 3D intersection point.
[in]	MakeRayTest	Specifies whether the line is to be interpreted as a line or a ray. By default false. If the line is interpreted as a ray, the length of the line is ignored.

Returns:

True if an intersection has been detected.

SP_EXPORT bool sp::math::CollisionLibrary::checkLineBoxOverlap	(	const dim::line3df &	Line,
		const dim::aabbox3df &	Box
	)

Returns true if an intersection between "Line" and "Box" has been detected.

SP_EXPORT bool sp::math::CollisionLibrary::checkLineSphereIntersection	(	const dim::line3df &	Line,
		const dim::vector3df &	SpherePosition,
		const f32	SphereRadius,
		dim::vector3df &	Intersection,
		bool	MakeRayTest = false
	)

Tests if a line intersects with a sphere.

Parameters:

[in]	Line	3D line for the test.
[in]	SpherePosition	Sphere's 3D position.
[in]	SphereRadius	Sphere's radius.
[out]	Intersection	Resulting 3D intersection point.
[in]	MakeRayTest	Specifies whether the line is to be interpreted as a line or a ray. By default false.

Returns:

True if an intersection has been detected.

SP_EXPORT bool sp::math::CollisionLibrary::checkLineTriangleIntersection	(	const dim::triangle3df &	Triangle,
		const dim::line3df &	Line,
		dim::vector3df &	Intersection
	)

Tests if a lines intersects with a triangle.

Parameters:

	Triangle,:	3D triangle for the test.
	Line,:	3D line for the test.
	Intersection,:	Resulting 3D intersection point.

Returns:

True if an intersection has been detected.

SP_EXPORT bool sp::math::CollisionLibrary::checkOBBoxOBBoxOverlap	(	const dim::obbox3df &	BoxA,
		const dim::obbox3df &	BoxB
	)

Returns:

True if an intersection between "BoxA" and "BoxB" has been detected. OOBs (orientated-bounding-boxes) may be transformed for intersection tests (With AABBs (axis-aliend-bounding-boxes) you have to transform the opposit intersection object by the inverse transformation).

SP_EXPORT bool sp::math::CollisionLibrary::checkPlaneBoxOverlap	(	const dim::plane3df &	Plane,
		const dim::aabbox3df &	Box
	)

Returns true if an intersection between "Plane" and "Box" has been detected.

bool sp::math::CollisionLibrary::checkPyramidPyramidOverlap	(	const dim::vector3df &	OriginA,
		const scene::ViewFrustum &	FrustumA,
		const dim::vector3df &	OriginB,
		const scene::ViewFrustum &	FrustumB
	)

Returns true if the two view frustums overlap each other. In this case the two view frustums are aproximated as pyramids for performance optimzation.

SP_EXPORT bool sp::math::CollisionLibrary::checkTriangleBoxOverlap	(	const dim::triangle3df &	Triangle,
		const dim::aabbox3df &	Box
	)

Returns true if an intersection between "Triangle" and "Box" has been detected.

SP_EXPORT bool sp::math::CollisionLibrary::checkTriangleTriangleIntersection	(	const dim::triangle3df &	TriangleA,
		const dim::triangle3df &	TriangleB,
		dim::line3df &	Intersection
	)

Tests if a triangle intersects with an other triangle.

Parameters:

	TriangleA,:	First 3D triangle for the test.
	TriangleB,:	Second 3D triangle for the test.
	Intersection,:	Resulting 3D line (or rather "intersection cut").

Returns:

True if an intersection has been detected.

template<typename T , typename C >

bool sp::math::CollisionLibrary::clipPolygon	(	const dim::polygon< C > &	Poly,
		const dim::plane3d< T > &	Plane,
		dim::polygon< C > &	FrontPoly,
		dim::polygon< C > &	BackPoly
	)

Clips the given polygon with the given plane.

Template Parameters:

	T	Specifies the data type (float, double, int etc.).
	C	Specifies the class type (point2d, vector3d etc.). Requires that the class implements a function called "vector3d<T> getCoord() const".

Parameters:

[in]	Poly	Specifies the polygon which is to be clipped.
[in]	Plane	Specifies the clipping plane.
[out]	FrontPoly	Specifies the output polygon which is in front of the clipping plane.
[out]	BackPoly	Specifies the output polygon which is behind the clipping plane.

Returns:

True on success. Otherwise the input is invalid.

See also:

scene::ClipVertex

SP_EXPORT dim::point2df sp::math::CollisionLibrary::get2DLineLineIntersectionStraight	(	const dim::point2df &	A,
		const dim::point2df &	B,
		const dim::point2df &	C,
		const dim::point2df &	D
	)

Computes the intersection of two lines (or rather rays because an intersection will always be detected).

Parameters:

	A,:	Start point of the first lines.
	B,:	End point of the first lines.
	C,:	Start point of the second lines.
	D,:	End point of the second lines.

Returns:

Intersection point of the two lines (or rather rays).

SP_EXPORT dim::line3df sp::math::CollisionLibrary::getClosestLine	(	const dim::quadrangle3df &	Quadrangle,
		const dim::line3df &	Line
	)

Computes the closest line from the given quadrangle and line.

Parameters:

	Quadrangle,:	3D quadrangle for the computation.
	Line,:	3D line to which the clsoest point is to be computed.

Returns:

Closest 3D line from "Line" to "Quadrangle" where the start point is onto the quadrangle.

Todo:

This function has not been tested yet!

SP_EXPORT dim::line3df sp::math::CollisionLibrary::getClosestLine	(	const dim::aabbox3df &	Box,
		const dim::line3df &	Line
	)

Computes the closest line from the given axis-aligned bounding box and line.

Parameters:

[in]	Box	Specifies the AABB.
[in]	Line	Specifies the 3D line.

Returns:

Closest 3D line from "Line" to "Box" where the start point is onto the box.

SP_EXPORT dim::line3df sp::math::CollisionLibrary::getClosestLine	(	const dim::triangle3df &	Triangle,
		const dim::line3df &	Line
	)

Computes the closest line between the given triangle and line.

Parameters:

	Triangle,:	3D triangle for the computation.
	Line,:	3D line to which the closest point is to be computed.

Returns:

Closest 3D line from "Line" to "Triangle" where the start point is onto the triangle.

SP_EXPORT bool sp::math::CollisionLibrary::getClosestLineStraight	(	const dim::triangle3df &	Triangle,
		const dim::line3df &	Line,
		dim::line3df &	LineToTriangle
	)

Computes the closest line between the given triangle and line.

Parameters:

	Triangle,:	3D triangle for the computation.
	Line,:	3D line to which the closest point is to be computed.
	LineToTriangle,:	Resulting 3D line.

Returns:

True if the line's start or end point lies onto the triangle. Otherwise false and the resulting 3d line is empty.

SP_EXPORT dim::vector3df sp::math::CollisionLibrary::getClosestPoint	(	const dim::aabbox3df &	Box,
		const dim::vector3df &	Point
	)

Computes the closest point from an other point to a box.

Parameters:

	Box,:	3D AABB (Axis-Aliend-Bounding-Box) for the computation.
	Point,:	3D point to which the closest point shall be computed.

Returns:

Closest 3D point from "Point" to "Box" (or rather to a Box's surface).

SP_EXPORT dim::vector3df sp::math::CollisionLibrary::getClosestPoint	(	const dim::triangle3df &	Triangle,
		const dim::vector3df &	Point
	)

Computes the closest point onto given triangle from an other point to this trianlge.

Parameters:

	Triangle,:	3D triangle for the computation.
	Point,:	3D point to which the closest point is to be computed.

Returns:

Closest 3D point from "Point" to "Triangle".

SP_EXPORT dim::vector3df sp::math::CollisionLibrary::getClosestPoint	(	const dim::aabbox3df &	Box,
		const dim::vector3df &	Point,
		dim::vector3df &	Normal
	)

Same like the function above but computes additional the normalized normal vector by "Point" and the resulting 3D point.

SP_EXPORT dim::vector3df sp::math::CollisionLibrary::getClosestPoint	(	const dim::obbox3df &	Box,
		const dim::vector3df &	Point
	)

Computes the closest point from an other point to a box.

Parameters:

	Box,:	3D OBB (Oriented-Bounding-Box) for the computation.
	Point,:	3D point to which the closest point shall be computed.

Returns:

Closest 3D point from "Point" to "Box" (or rather to a Box's surface).

SP_EXPORT bool sp::math::CollisionLibrary::getClosestPointStraight	(	const dim::triangle3df &	Triangle,
		const dim::vector3df &	Point,
		dim::vector3df &	PointOnTriangle
	)

Computes the closest point from an other point to a triangle if this computed point lies onto the triangle.

Parameters:

PointOnTriangle,:

Resulting 3D point.

Returns:

True if the point lies onto the triangle. In this case "Point" and "PointOnTrianlge" offer a normal vector to "Trianlge".

f32 sp::math::CollisionLibrary::getLineBoxDistance	(	const dim::aabbox3df &	Box,
		const dim::line3df &	Line
	)			[inline]

Computes the distance between the given box and line.

SP_EXPORT f32 sp::math::CollisionLibrary::getLineBoxDistanceSq	(	const dim::aabbox3df &	Box,
		const dim::line3df &	Line
	)

Computes the squared distance between the given box and line.

Todo:

This function has not been tested yet!

f32 sp::math::CollisionLibrary::getLineLineDistance	(	const dim::line3df &	LineA,
		const dim::line3df &	LineB,
		dim::vector3df &	PointP,
		dim::vector3df &	PointQ
	)			[inline]

Returns the square root of the result of the getLineLineDistanceSq function.

SP_EXPORT f32 sp::math::CollisionLibrary::getLineLineDistanceSq	(	const dim::line3df &	LineA,
		const dim::line3df &	LineB,
		dim::vector3df &	PointP,
		dim::vector3df &	PointQ
	)

Computes the squared distance between two lines. If you want to have the real distance take the square-root of the return value.

Parameters:

	LineA,:	First line.
	LineB,:	Second line.
	PointP,:	First point of the closest distance (or rather line).
	PointQ,:	Second point of the closest distance (or rather line).

Returns:

Closest distance of the two lines or rather the length of the closest line PQ.

SP_EXPORT bool sp::math::CollisionLibrary::getLineLineIntersection	(	const dim::line3df &	LineA,
		const dim::line3df &	LineB,
		dim::vector3df &	Intersection
	)

Tests if the two lines are intersecting.

Parameters:

	LinesA,:	First line.
	LinesB,:	Second line.
	Intersection,:	Resulting intersection point of the two lines if an intersection has been deteced.

Returns:

True if an intersection has been detected.

template<typename T , typename C >

bool sp::math::CollisionLibrary::getLinePlaneIntersection	(	const dim::plane3d< T > &	Plane,
		const C &	LineStart,
		const C &	LineEnd,
		C &	Intersection
	)

f32 sp::math::CollisionLibrary::getPointBoxDistance	(	const dim::obbox3df &	Box,
		const dim::vector3df &	Point
	)			[inline]

Computes the distance between the given box and point.

SP_EXPORT f32 sp::math::CollisionLibrary::getPointBoxDistanceSq	(	const dim::obbox3df &	Box,
		const dim::vector3df &	Point
	)

Computes the squared distance between the given box and point.