Distance.hpp
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1 /*
2  * Original work Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
3  * Modified work Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
4  *
5  * This software is provided 'as-is', without any express or implied
6  * warranty. In no event will the authors be held liable for any damages
7  * arising from the use of this software.
8  * Permission is granted to anyone to use this software for any purpose,
9  * including commercial applications, and to alter it and redistribute it
10  * freely, subject to the following restrictions:
11  * 1. The origin of this software must not be misrepresented; you must not
12  * claim that you wrote the original software. If you use this software
13  * in a product, an acknowledgment in the product documentation would be
14  * appreciated but is not required.
15  * 2. Altered source versions must be plainly marked as such, and must not be
16  * misrepresented as being the original software.
17  * 3. This notice may not be removed or altered from any source distribution.
18  */
19 
20 #ifndef PLAYRHO_COLLISION_DISTANCE_HPP
21 #define PLAYRHO_COLLISION_DISTANCE_HPP
22 
23 #include <PlayRho/Common/Math.hpp>
24 #include <PlayRho/Collision/Simplex.hpp>
25 
26 namespace playrho {
27 
31 using PairLength2 = std::pair<Length2, Length2>;
32 
33 struct ToiConf;
34 
35 namespace d2 {
36 
37 class DistanceProxy;
38 
40 PairLength2 GetWitnessPoints(const Simplex& simplex) noexcept;
41 
43 PLAYRHO_CONSTEXPR inline Length2 GetDelta(PairLength2 arg) noexcept
44 {
45  return std::get<1>(arg) - std::get<0>(arg);
46 }
47 
50 struct DistanceConf
51 {
53  using iteration_type = std::remove_const<decltype(DefaultMaxDistanceIters)>::type;
54 
55  Simplex::Cache cache;
56  iteration_type maxIterations = DefaultMaxDistanceIters;
57 };
58 
60 DistanceConf GetDistanceConf(const ToiConf& conf) noexcept;
61 
63 struct DistanceOutput
64 {
66  enum State: std::uint8_t
67  {
68  Unknown,
69  MaxPoints,
70  UnfitSearchDir,
71  DuplicateIndexPair,
72  HitMaxIters
73  };
74 
76  using iteration_type = std::remove_const<decltype(DefaultMaxDistanceIters)>::type;
77 
78  Simplex simplex;
79  iteration_type iterations = 0;
80  State state = Unknown;
81 };
82 
96 DistanceOutput Distance(const DistanceProxy& proxyA, const Transformation& transformA,
97  const DistanceProxy& proxyB, const Transformation& transformB,
98  DistanceConf conf = DistanceConf{});
99 
106 Area TestOverlap(const DistanceProxy& proxyA, const Transformation& xfA,
107  const DistanceProxy& proxyB, const Transformation& xfB,
108  DistanceConf conf = DistanceConf{});
109 
110 } // namespace d2
111 } // namespace playrho
112 
113 #endif // PLAYRHO_COLLISION_DISTANCE_HPP