CCollisionAABB.h

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//==============================================================================
/*
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    \author    <http://www.chai3d.org>
    \author    Chris Sewell
    \author    Charity Lu
    \author    Francois Conti
    \version   3.2.0 $Rev: 2167 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef CCollisionAABBH
#define CCollisionAABBH
//------------------------------------------------------------------------------
#include "math/CMaths.h"
#include "collisions/CGenericCollision.h"
#include "collisions/CCollisionAABBTree.h"
//------------------------------------------------------------------------------
#include <vector>
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
namespace chai3d {
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================

//==============================================================================
//==============================================================================
class cCollisionAABB : public cGenericCollision
{
    enum cCollisionAABBState
    {
        C_AABB_STATE_TEST_CURRENT_NODE,
        C_AABB_STATE_TEST_LEFT_NODE,
        C_AABB_STATE_TEST_RIGHT_NODE,
        C_AABB_STATE_POP_STACK
    };

    struct cCollisionAABBStack
    {
        int m_index;
        cCollisionAABBState m_state;
    };

    //--------------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //--------------------------------------------------------------------------

public:

    cCollisionAABB();

    virtual ~cCollisionAABB();


    //--------------------------------------------------------------------------
    // PUBLIC METHODS:
    //--------------------------------------------------------------------------

public:

    virtual void update();

    virtual bool computeCollision(cGenericObject* a_object,
                                  cVector3d& a_segmentPointA,
                                  cVector3d& a_segmentPointB,
                                  cCollisionRecorder& a_recorder,
                                  cCollisionSettings& a_settings);

    virtual void render(cRenderOptions& a_options);

    void initialize(const cGenericArrayPtr a_elements,
                    const double a_radius = 0.0);


    //--------------------------------------------------------------------------
    // PROTECTED METHODS:
    //--------------------------------------------------------------------------

protected:

    // This method is used to recursively build the collision tree.
    int buildTree(const int a_indexFirstNode, const int a_indexLastNode, const int a_depth);


    //--------------------------------------------------------------------------
    // PROTECTED MEMBERS:
    //--------------------------------------------------------------------------

protected:

    double m_radius;

    int m_numElements;

    cGenericArrayPtr m_elements;

    std::vector<cCollisionAABBNode> m_nodes;

    int m_rootIndex;

    int m_maxDepth;
};

//------------------------------------------------------------------------------
} // namespace chai3d
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
#endif
//------------------------------------------------------------------------------