AdditiveCCD.h

Go to the documentation of this file.

#pragma once
#include "Vector.h"
#include "Primitive/Primitive3D.h"
 
namespace dyno
{
    template<typename T>
    class AdditiveCCD
    {
    public:
 
        DYN_FUNC AdditiveCCD(T xi_, T s_, T tc_) 
            : xi(xi_), s(s_), tc(tc_) {
        };
        DYN_FUNC AdditiveCCD() = default;
        //default: this is a normal CCD board phrase as thickness = 0, that return TOI as distance >0; TOI in[0,1]
        //with CA strategy.

        
        inline DYN_FUNC bool VertexFaceCCD(
            const Vector<T, 3>& x0, const Vector<T, 3>& x1, const Vector<T, 3>& x2, const Vector<T, 3>& x3,
            const Vector<T, 3>& y0, const Vector<T, 3>& y1, const Vector<T, 3>& y2, const Vector<T, 3>& y3,
            T& time, T invL);

        
 
        inline DYN_FUNC bool EdgeEdgeCCD(
            const Vector<T, 3>& x0, const Vector<T, 3>& x1, const Vector<T, 3>& x2, const Vector<T, 3>& x3,
            const Vector<T, 3>& y0, const Vector<T, 3>& y1, const Vector<T, 3>& y2, const Vector<T, 3>& y3,
            T& time, T invL);
 

 
        inline DYN_FUNC bool TriangleCCD(
            TTriangle3D<Real>& s0, TTriangle3D<Real>& s1,
            TTriangle3D<Real>& t0, TTriangle3D<Real>& t1,
            Real& toi);

        inline DYN_FUNC void projectClosePoint(
            const TTriangle3D<Real>& s, const TTriangle3D<Real>& t,
            Vector<T,3> & first, Vector<T,3> &second);
 
    private: 
 
 
        inline DYN_FUNC Vector<T, 3> DistanceEE(
            const Vector<T, 3>& x0, const Vector<T, 3>& x1,
            const Vector<T, 3>& y0, const Vector<T, 3>& y1,
            T* para);
 
        inline DYN_FUNC T DistanceVF(
            const Vector<T, 3>& x,
            const Vector<T, 3>& y0,
            const Vector<T, 3>& y1,
            const Vector<T, 3>& y2);
 
        inline DYN_FUNC Vector<T, 3> DistanceVF_v(
            const Vector<T, 3>& x,
            const Vector<T, 3>& y0,
            const Vector<T, 3>& y1,
            const Vector<T, 3>& y2,
            T* para);
 
        DYN_FUNC T SquareDistanceVF(const Vector<T, 3>& x0, const Vector<T, 3>& x1, const Vector<T, 3>& x2,
            const Vector<T, 3>& x3);
 
        DYN_FUNC T SquareDistanceEE(
            const Vector<T, 3>& x0, const Vector<T, 3>& x1,
            const Vector<T, 3>& x2, const Vector<T, 3>& x3);
 
        T s = 0.2 ; //separation rescale, usually <<1 in [0,1].
        T xi = 0.0; // thickness required, rescalar to max primitive length (e.g. xi times of max edge of triangle)
        T tc = 0.95; // intuitive time-to-collide lower bound, can simply set as 1.
    };
}
 
#include "AdditiveCCD.inl"