decCollisionCapsule Class Reference

Capsule collision volume. More...

#include <decCollisionCapsule.h>

Inheritance diagram for decCollisionCapsule:

List of all members.

Public Member Functions
Constructors and Destructors
	decCollisionCapsule ()
	Creates a new unoriented capsule.
	decCollisionCapsule (const decVector &position, float halfHeight, float topRadius, float bottomRadius)
	Creates a new unoriented capsule.
	decCollisionCapsule (const decVector &position, float halfHeight, float topRadius, float bottomRadius, const decQuaternion &orientation)
	Creates a new oriented capsule.
virtual	~decCollisionCapsule ()
	Cleans up the collision Capsule.
First Stage Dispatch
virtual bool	VolumeHitsVolume (decCollisionVolume *volume)
	Determines if this volume collides with the given one.
virtual float	VolumeMoveHitsVolume (decCollisionVolume *volume, const decVector &displacement, decVector *normal)
	Retrieves the distance travelled along a given displacement vector until this volume hits another one.
Second Stage Dispatch
virtual bool	SphereHitsVolume (decCollisionSphere *sphere)
	Determines if the given sphere collides with this volume.
virtual bool	CylinderHitsVolume (decCollisionCylinder *cylinder)
	Determines if the given cylinder collides with this volume.
virtual bool	CapsuleHitsVolume (decCollisionCapsule *capsule)
	Determines if the given capsule collides with this volume.
virtual bool	BoxHitsVolume (decCollisionBox *box)
	Determines if the given box collides with this volume.
virtual bool	TriangleHitsVolume (decCollisionTriangle *triangle)
	Determines if the given triangle collides with this volume.
virtual bool	FrustumHitsVolume (decCollisionFrustum *frustum)
	Determines if the given frustum collides with this volume.
virtual float	SphereMoveHitsVolume (decCollisionSphere *sphere, const decVector &displacement, decVector *normal)
	Retrieves the distance travelled along a given displacement vector until this volume hits a sphere.
virtual float	CylinderMoveHitsVolume (decCollisionCylinder *cylinder, const decVector &displacement, decVector *normal)
	Retrieves the distance travelled along a given displacement vector until this volume hits a cylinder.
virtual float	CapsuleMoveHitsVolume (decCollisionCapsule *capsule, const decVector &displacement, decVector *normal)
	Retrieves the distance travelled along a given displacement vector until this volume hits a capsule.
virtual float	BoxMoveHitsVolume (decCollisionBox *box, const decVector &displacement, decVector *normal)
	Retrieves the distance travelled along a given displacement vector until this volume hits a box.
virtual float	TriangleMoveHitsVolume (decCollisionTriangle *triangle, const decVector &displacement, decVector *normal)
	Retrieves the distance travelled along a given displacement vector until this volume hits a triangle.
virtual float	FrustumMoveHitsVolume (decCollisionFrustum *frustum, const decVector &displacement, decVector *normal)
	Retrieves the distance travelled along a given displacement vector until this volume hits a frustum.
virtual float	PointMoveHitsVolume (const decVector &point, const decVector &displacement, decVector *normal)
	Retrieves the distance travelled along a given displacement vector until the given point hits this volume.
Enclosing Volumes
virtual void	GetEnclosingSphere (decCollisionSphere *sphere)
	Retrieves the sphere volume best enclosing this volume.
virtual void	GetEnclosingBox (decCollisionBox *box)
	Retrieves the box volume best enclosing this volume.
Miscelanous Functions
virtual decVector	ClosestPointTo (const decVector &point)
	Retrieves the closest point on the volume.
virtual decVector	NormalAtPoint (const decVector &point)
	Retrieves the surface normal through the given point.
virtual bool	RayHitsVolume (const decVector &rayOrigin, const decVector &rayDirection, float &hitDistance)
	Determines if a ray hits the volume.
Visiting
virtual void	Visit (decCollisionVolumeVisitor *visitor)
	Visits the collision volume.
Collision Routines
bool	SphereHitsCapsule (decCollisionSphere *sphere)
	Determines if the given sphere hits this capsule.
bool	CylinderHitsCapsule (decCollisionCylinder *cylinder)
	Determines if the given cylinder hits this capsule.
bool	CapsuleHitsCapsule (decCollisionCapsule *capsule)
	Determines if the given capsule hits this capsule.
float	SphereMoveHitsCapsule (decCollisionSphere *sphere, const decVector &displacement, decVector *normal)
	Determines the distance of the given sphere to move until colliding with this capsule.
float	CylinderMoveHitsCapsule (decCollisionCylinder *cylinder, const decVector &displacement, decVector *normal)
	Determines the distance of the given cylinder to move until colliding with this capsule.
float	CapsuleMoveHitsCapsule (decCollisionCapsule *capsule, const decVector &displacement, decVector *normal)
	Determines the distance of the given capsule to move until colliding with this capsule.
Management
const decVector &	GetPosition () const
	Retrieves the capsule center.
void	SetPosition (const decVector &position)
	Sets the position.
const decQuaternion &	GetOrientation () const
	Retrieves the orientation.
void	SetOrientation (const decQuaternion &orientation)
	Sets the orientation.
void	ClearOrientation ()
	Clears the orientation of the capsule setting it to the identity quaternion.
float	GetHalfHeight () const
	Retrieves the half height.
void	SetHalfHeight (float halfHeight)
	Sets the half height.
float	GetTopRadius () const
	Retrieves the top radius.
void	SetTopRadius (float radius)
	Sets the top radius.
float	GetBottomRadius () const
	Retrieves the bottom radius.
void	SetBottomRadius (float radius)
	Sets the bottom radius.
void	SetRadius (float radius)
	Sets both radi to the same value.
bool	GetOriented () const
	Determines if this capsule is oriented.
bool	GetAxisAligned () const
	Determines if this capsule is axis aligned.
bool	GetTapered () const
	Determines if this capsule is tapered.
const decVector &	GetAxisX () const
	Retrieves the X-Axis.
const decVector &	GetAxisY () const
	Retrieves the Y-Axis.
const decVector &	GetAxisZ () const
	Retrieves the Z-Axis.
decVector	WorldToLocal (const decVector &point) const
	Transforms a point from world coordinates into local coordinates.
decVector	LocalToWorld (const decVector &point) const
	Transforms a point from local coordinates into world coordinates.
decVector	NormalWorldToLocal (const decVector &normal) const
	Transforms a normal from world coordinates into local coordinates.
decVector	NormalLocalToWorld (const decVector &normal) const
	Transforms a normal from local coordinates into world coordinates.

---

Detailed Description

Capsule collision volume.

Defines a collision volume in the shape of a capsule. The capsule is defined by a half height and two radi one for the top sphere and one for the bottom sphere. The capsule is oriented along the Y-Axis. A capsule with different radi is a tapered capsule while a capsule with two identical radi is a common capsule. Common capsules are usually faster.

Author:

Plüss Roland

Version:

1.0

Date:

2008

Warning:

This class is partially implemented. See the collision routine notices for functions not implemented yet.

Todo:

• Implementing CylinderHitsCapsule

---

Constructor & Destructor Documentation

decCollisionCapsule::decCollisionCapsule

(

)

Creates a new unoriented capsule.

The half height is set to 0.5, the top and bottom radius are set both to 0.5 too.

decCollisionCapsule::decCollisionCapsule	(	const decVector &	position,
		float	halfHeight,
		float	topRadius,
		float	bottomRadius
	)

Creates a new unoriented capsule.

Parameters:

position	Center of the capsule.
halfHeight	Half the height of the capsule. Has to be greater than 0.
topRadius	Radius of the top cap. Has to be greater than 0.
bottomRadius	Radius of the bottom cap. Has to be greater than 0.

decCollisionCapsule::decCollisionCapsule	(	const decVector &	position,
		float	halfHeight,
		float	topRadius,
		float	bottomRadius,
		const decQuaternion &	orientation
	)

Creates a new oriented capsule.

Parameters:

position	Center of the capsule.
halfHeight	Half the height of the capsule. Has to be greater than 0.
topRadius	Radius of the top cap. Has to be greater than 0.
bottomRadius	Radius of the bottom cap. Has to be greater than 0.
orientation	Orientation of the capsule as normalized quaternion.

virtual decCollisionCapsule::~decCollisionCapsule

(

)

[virtual]

Cleans up the collision Capsule.

---

Member Function Documentation

virtual bool decCollisionCapsule::BoxHitsVolume

(

decCollisionBox *

box )

[virtual]

Determines if the given box collides with this volume.

The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

virtual float decCollisionCapsule::BoxMoveHitsVolume	(	decCollisionBox *	box,
		const decVector &	displacement,
		decVector *	normal
	)		[virtual]

Retrieves the distance travelled along a given displacement vector until this volume hits a box.

The returned value is in the range of 0 to 1. If no collision happens 1 is returned. In case of collision 'normal' has to be filled in with a normalized vector designating the plane along which this volume can be moved without colliding the given volume. Set 'normal' to NULL if you are not interested in this information. The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

bool decCollisionCapsule::CapsuleHitsCapsule

(

decCollisionCapsule *

capsule )

Determines if the given capsule hits this capsule.

virtual bool decCollisionCapsule::CapsuleHitsVolume

(

decCollisionCapsule *

capsule )

[virtual]

Determines if the given capsule collides with this volume.

The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

float decCollisionCapsule::CapsuleMoveHitsCapsule	(	decCollisionCapsule *	capsule,
		const decVector &	displacement,
		decVector *	normal
	)

Determines the distance of the given capsule to move until colliding with this capsule.

Warning:

Function is not implemented yet and always returns 1.

virtual float decCollisionCapsule::CapsuleMoveHitsVolume	(	decCollisionCapsule *	capsule,
		const decVector &	displacement,
		decVector *	normal
	)		[virtual]

Retrieves the distance travelled along a given displacement vector until this volume hits a capsule.

The returned value is in the range of 0 to 1. If no collision happens 1 is returned. In case of collision 'normal' has to be filled in with a normalized vector designating the plane along which this volume can be moved without colliding the given volume. Set 'normal' to NULL if you are not interested in this information. The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

void decCollisionCapsule::ClearOrientation

(

)

Clears the orientation of the capsule setting it to the identity quaternion.

virtual decVector decCollisionCapsule::ClosestPointTo

(

const decVector &

point )

[virtual]

Retrieves the closest point on the volume.

Implements decCollisionVolume.

bool decCollisionCapsule::CylinderHitsCapsule

(

decCollisionCylinder *

cylinder )

Determines if the given cylinder hits this capsule.

Warning:

Not implemented yet and always returns false.

virtual bool decCollisionCapsule::CylinderHitsVolume

(

decCollisionCylinder *

cylinder )

[virtual]

Determines if the given cylinder collides with this volume.

The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

float decCollisionCapsule::CylinderMoveHitsCapsule	(	decCollisionCylinder *	cylinder,
		const decVector &	displacement,
		decVector *	normal
	)

Determines the distance of the given cylinder to move until colliding with this capsule.

Warning:

Function is not implemented yet and always returns 1.

virtual float decCollisionCapsule::CylinderMoveHitsVolume	(	decCollisionCylinder *	cylinder,
		const decVector &	displacement,
		decVector *	normal
	)		[virtual]

Retrieves the distance travelled along a given displacement vector until this volume hits a cylinder.

The returned value is in the range of 0 to 1. If no collision happens 1 is returned. In case of collision 'normal' has to be filled in with a normalized vector designating the plane along which this volume can be moved without colliding the given volume. Set 'normal' to NULL if you are not interested in this information. The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

virtual bool decCollisionCapsule::FrustumHitsVolume

(

decCollisionFrustum *

frustum )

[virtual]

Determines if the given frustum collides with this volume.

The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

virtual float decCollisionCapsule::FrustumMoveHitsVolume	(	decCollisionFrustum *	frustum,
		const decVector &	displacement,
		decVector *	normal
	)		[virtual]

Retrieves the distance travelled along a given displacement vector until this volume hits a frustum.

The returned value is in the range of 0 to 1. If no collision happens 1 is returned. In case of collision 'normal' has to be filled in with a normalized vector designating the plane along which this volume can be moved without colliding the given volume. Set 'normal' to NULL if you are not interested in this information. The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

bool decCollisionCapsule::GetAxisAligned

(

)

const [inline]

Determines if this capsule is axis aligned.

Returns:

True if the capsule has an orientation equal to the identity quaternion.

const decVector& decCollisionCapsule::GetAxisX

(

)

const [inline]

Retrieves the X-Axis.

Returns:

Normalized vector along the X-Axis.

const decVector& decCollisionCapsule::GetAxisY

(

)

const [inline]

Retrieves the Y-Axis.

Returns:

Normalized vector along the Y-Axis.

const decVector& decCollisionCapsule::GetAxisZ

(

)

const [inline]

Retrieves the Z-Axis.

Returns:

Normalized vector along the Z-Axis.

float decCollisionCapsule::GetBottomRadius

(

)

const [inline]

Retrieves the bottom radius.

virtual void decCollisionCapsule::GetEnclosingBox

(

decCollisionBox *

box )

[virtual]

Retrieves the box volume best enclosing this volume.

Implements decCollisionVolume.

virtual void decCollisionCapsule::GetEnclosingSphere

(

decCollisionSphere *

sphere )

[virtual]

Retrieves the sphere volume best enclosing this volume.

Implements decCollisionVolume.

float decCollisionCapsule::GetHalfHeight

(

)

const [inline]

Retrieves the half height.

const decQuaternion& decCollisionCapsule::GetOrientation

(

)

const [inline]

Retrieves the orientation.

bool decCollisionCapsule::GetOriented

(

)

const [inline]

Determines if this capsule is oriented.

Returns:

True if the capsule has an orientation other than the identity quaternion.

const decVector& decCollisionCapsule::GetPosition

(

)

const [inline]

Retrieves the capsule center.

bool decCollisionCapsule::GetTapered

(

)

const [inline]

Determines if this capsule is tapered.

Returns:

True if the top and bottom radius are not identical.

float decCollisionCapsule::GetTopRadius

(

)

const [inline]

Retrieves the top radius.

decVector decCollisionCapsule::LocalToWorld

(

const decVector &

point )

const

Transforms a point from local coordinates into world coordinates.

virtual decVector decCollisionCapsule::NormalAtPoint

(

const decVector &

point )

[virtual]

Retrieves the surface normal through the given point.

The point is either right on the surface or near to it. This function is relaxing in this case and tries to calculate the best normal pointing from the volume at the point. For certain points a normal is impossible to determine. The normal in this case is undefined.

Parameters:

point

Point to determine the normal for.

Returns:

Surface normal at given point.

Reimplemented from decCollisionVolume.

decVector decCollisionCapsule::NormalLocalToWorld

(

const decVector &

normal )

const

Transforms a normal from local coordinates into world coordinates.

decVector decCollisionCapsule::NormalWorldToLocal

(

const decVector &

normal )

const

Transforms a normal from world coordinates into local coordinates.

virtual float decCollisionCapsule::PointMoveHitsVolume	(	const decVector &	point,
		const decVector &	displacement,
		decVector *	normal
	)		[virtual]

Retrieves the distance travelled along a given displacement vector until the given point hits this volume.

The returned value is in the range of 0 to 1. If no collision happens 1 is returned. In case of collision 'normal' has to be filled in with a normalized vector designating the plane along which this volume can be moved without colliding the given volume. Set 'normal' to NULL if you are not interested in this information. The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

virtual bool decCollisionCapsule::RayHitsVolume	(	const decVector &	rayOrigin,
		const decVector &	rayDirection,
		float &	hitDistance
	)		[virtual]

Determines if a ray hits the volume.

Parameters:

rayOrigin	Origin of the ray.
rayDirection	Normalized direction of the ray.
hitDistance	If the ray hits this will be set to the distance from the ray origin to the collision point.

Returns:

True if the ray hits the volume.

Reimplemented from decCollisionVolume.

void decCollisionCapsule::SetBottomRadius

(

float

radius )

Sets the bottom radius.

Parameters:

radius

Radius of the bottom capsule cap. Has to be greater than 0.

void decCollisionCapsule::SetHalfHeight

(

float

halfHeight )

Sets the half height.

Parameters:

halfHeight

Half the height of the capsule. Has to be greater than 0.

void decCollisionCapsule::SetOrientation

(

const decQuaternion &

orientation )

Sets the orientation.

Parameters:

orientation

Normalized rotation quaternion.

void decCollisionCapsule::SetPosition

(

const decVector &

position )

Sets the position.

Parameters:

position

Center of capsule.

void decCollisionCapsule::SetRadius

(

float

radius )

Sets both radi to the same value.

Parameters:

radius

Radius of both the top and bottom cap. Has to be greater than 0.

void decCollisionCapsule::SetTopRadius

(

float

radius )

Sets the top radius.

Parameters:

radius

Radius of the top capsule cap. Has to be greater than 0.

bool decCollisionCapsule::SphereHitsCapsule

(

decCollisionSphere *

sphere )

Determines if the given sphere hits this capsule.

virtual bool decCollisionCapsule::SphereHitsVolume

(

decCollisionSphere *

sphere )

[virtual]

Determines if the given sphere collides with this volume.

The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

float decCollisionCapsule::SphereMoveHitsCapsule	(	decCollisionSphere *	sphere,
		const decVector &	displacement,
		decVector *	normal
	)

Determines the distance of the given sphere to move until colliding with this capsule.

Warning:

Function is not implemented yet and always returns 1.

virtual float decCollisionCapsule::SphereMoveHitsVolume	(	decCollisionSphere *	sphere,
		const decVector &	displacement,
		decVector *	normal
	)		[virtual]

Retrieves the distance travelled along a given displacement vector until this volume hits a sphere.

The returned value is in the range of 0 to 1. If no collision happens 1 is returned. In case of collision 'normal' has to be filled in with a normalized vector designating the plane along which this volume can be moved without colliding the given volume. Set 'normal' to NULL if you are not interested in this information. The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

virtual bool decCollisionCapsule::TriangleHitsVolume

(

decCollisionTriangle *

triangle )

[virtual]

Determines if the given triangle collides with this volume.

The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

virtual float decCollisionCapsule::TriangleMoveHitsVolume	(	decCollisionTriangle *	triangle,
		const decVector &	displacement,
		decVector *	normal
	)		[virtual]

Retrieves the distance travelled along a given displacement vector until this volume hits a triangle.

The returned value is in the range of 0 to 1. If no collision happens 1 is returned. In case of collision 'normal' has to be filled in with a normalized vector designating the plane along which this volume can be moved without colliding the given volume. Set 'normal' to NULL if you are not interested in this information. The subclass has to dispatch to a collision function here.

Implements decCollisionVolume.

virtual void decCollisionCapsule::Visit

(

decCollisionVolumeVisitor *

visitor )

[virtual]

Visits the collision volume.

Implements decCollisionVolume.

virtual bool decCollisionCapsule::VolumeHitsVolume

(

decCollisionVolume *

volume )

[virtual]

Determines if this volume collides with the given one.

The subclass has to dispatch to a second stage function here.

Implements decCollisionVolume.

virtual float decCollisionCapsule::VolumeMoveHitsVolume	(	decCollisionVolume *	volume,
		const decVector &	displacement,
		decVector *	normal
	)		[virtual]

Retrieves the distance travelled along a given displacement vector until this volume hits another one.

The returned value is in the range of 0 to 1. If no collision happens 1 is returned. In case of collision 'normal' has to be filled in with a normalized vector designating the plane along which this volume can be moved without colliding the given volume. Set 'normal' to NULL if you are not interested in this information. The subclass has to dispatch to a second stage function here.

Implements decCollisionVolume.

decVector decCollisionCapsule::WorldToLocal

(

const decVector &

point )

const

Transforms a point from world coordinates into local coordinates.

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The documentation for this class was generated from the following file:

• decCollisionCapsule.h