obbcollision.h

obb碰撞检测类,可以在虚拟环境中进行碰撞检测

// OBBCollision.h: interface for the COBBCollision class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_OBBCOLLISION_H__DE22BB81_444C_4CA2_9A36_6FCFDA13F180__INCLUDED_)
#define AFX_OBBCOLLISION_H__DE22BB81_444C_4CA2_9A36_6FCFDA13F180__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
//#include "Matrix.h"
//#include "Vector3.h"
#include "Screws.h"



struct  point
{
	float  x;
	float  y;
	float  z;
};

struct element
{
	int NUMPTS;
	struct   point   center_point;
	struct   point   points[72];
	struct   point   max;
	struct   point   min;

};
struct object
{
	int NUMPTS;
    CMatrix  center_pointgst;
	struct   point   center_point;
	struct   point   points[50];
	struct   point   max;
	struct   point   min;
};

struct object_cylinder
{
	int NUMELE_i,NUMELE_j;
	struct   point   center_point[48];
    struct   element  elements[48][72];
};
class COBBCollision  
{
public:
	void Build_Mold();
	void Build_MoldGst();
	void Collision_Detection();

	struct  object objects[3];
	struct  object hand[3][5];
	struct  object_cylinder   hand_cylinder[3];

	float  first[3];
	float  second[3];
	float  third[3];
		
	struct point  fingerInit[3];


	bool  ob_Sphere,ob_Box,ob_Cylinder;

	float   ob_Sphere_radius;
	float   ob_Box_length,ob_Box_width,ob_Box_height;
	float   ob_Cylinder_radius,ob_Cylinder_height;

	float  moveX,moveY,moveZ;
	float  rotatedX,rotatedY,rotatedZ;
	float  hand_ry;//虚拟手绕y轴的旋转角度
	float  hand_rx;//虚拟手绕x轴的旋转角度
	float  hand_rz;//虚拟手绕z轴的旋转角度
/*
//手指各关节质心位形
    CMatrix finger11c_pgst;
    CMatrix finger12c_pgst;
    CMatrix finger13c_pgst;
    CMatrix finger21c_pgst;
    CMatrix finger22c_pgst;
    CMatrix finger23c_pgst;
    CMatrix finger31c_pgst;
    CMatrix finger32c_pgst;
    CMatrix finger33c_pgst;
*/
	COBBCollision();
	virtual ~COBBCollision();

private:
	void BoundingBox(struct point points[8],struct point *max,struct point *min);
	void Vertex_Cylinder(struct point points[64],float radius, float height);
	void Point_Center(struct point *ptr,struct point pt1,struct point pt2,int  i,int n);
	void Translate(struct point  *ptr,struct point  center_point);
	void RotateZ(struct point  *ptr,float  angle);
	void RotateY(struct point  *ptr,float  angle);
	void RotateX(struct point  *ptr,float  angle);
	void Dingdian_Zuobiao(struct point points[8],struct point center_point,double x,double y,double z,double  angle0=0.0,double  angle1=0.0);
	void Dingdian_ZuobiaoGst(struct point points[8],CMatrix center_pointgst,double x,double y,double z);
	float  width,radius;//指关节的宽度
	float  flength,slength,tlength,length;//指关节的长度

};

#endif // !defined(AFX_OBBCOLLISION_H__DE22BB81_444C_4CA2_9A36_6FCFDA13F180__INCLUDED_)