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-- File: Voxel_CollisionDetection.cdl
-- Created: Mon Jul 14 13:18:04 2008
-- Author: Vladislav ROMASHKO
-- <vladislav.romashko@opencascade.com>
---Copyright: Open CASCADE S.A.
class CollisionDetection from Voxel
---Purpose: Detects collisions between shapes.
uses
Shape from TopoDS,
ListOfShape from TopTools,
BoolDS from Voxel,
Box from Bnd
is
Create
---Purpose: An empty constructor.
returns CollisionDetection from Voxel;
---Category: Initialization
-- ==============
Create(deflection : Real from Standard;
nbx : Integer from Standard;
nby : Integer from Standard;
nbz : Integer from Standard)
---Purpose: A constructor.
-- It defines deflection of triangulation for the shapes.
-- As lower the deflection is, as proper the triangulation is generated.
-- Also, it defines number of splits along X, Y and Z axes for generation of voxels.
-- As greater the numbers are, as greater number of voxels is used for detection of collision.
returns CollisionDetection from Voxel;
AddShape(me : in out;
shape : Shape from TopoDS)
---Purpose: Adds a shape.
-- Returns an index of the shape.
returns Integer from Standard;
ReplaceShape(me : in out;
ishape : Integer from Standard;
shape : Shape from TopoDS)
---Purpose: Replaces a shape by another one.
-- <ishape> is an index of the shape.
-- This method is useful for moving shape, for example.
returns Boolean from Standard;
SetDeflection(me : in out;
deflection : Real from Standard);
---Purpose: Defines the deflection of triangulation of shapes.
SetNbVoxels(me : in out;
nbx : Integer from Standard;
nby : Integer from Standard;
nbz : Integer from Standard);
---Purpose: Defines the number of voxels along X, Y and Z axes.
SetBoundaryBox(me : in out;
box: Box from Bnd);
---Purpose: Defines a user-defined boundary box for generation of voxels.
-- If this method is not called, the algorithm calculates the boundary box itself.
SetUsageOfVolume(me : in out;
usage : Boolean from Standard);
---Purpose: Defines usage of volume of shapes in collision detection algorithm.
-- Beware, usage of volume a little bit decreases the speed of algorithm.
KeepCollisions(me : in out;
keep : Boolean from Standard);
---Purpose: Doesn't clean the collision points on new call to the method Compute().
-- It allows to see the collisions for a moving shape.
---Category: Computation
-- ===========
-- Call the method in the following order:
-- Voxelize();
-- Compute();
Voxelize(me : in out;
ishape : Integer from Standard = -1)
---Purpose: Prepares data for computation of collisions.
-- It checks the inner parameters (number of voxels along X, Y and Z axes) and
-- voxelizes the shapes.
-- If the shape is not changed since the last call to this method,
-- this method may be not called for this shape.
-- <ishape> - is the index of the shape for processing by this method.
-- If it is equal to -1, all shapes will be processed.
returns Boolean from Standard;
Compute(me : in out)
---Purpose: Computes the collisions.
-- This method may be called many times if, for example, the shapes are being moved.
returns Boolean from Standard;
---Category: Result (collisions)
-- ===================
HasCollisions(me)
---Purpose: Returns true if a collision is detected.
returns Boolean from Standard;
GetCollisions(me)
---C++: return const &
---Purpose: Returns the collided voxels.
returns BoolDS from Voxel;
---Category: Some internal methods
-- =====================
Destroy(me : in out);
---C++: alias ~
---Purpose: A destructor.
Clear(me : in out)
---Purpose: An internal method for cleaning the intermediate data.
is private;
CheckVoxels(me;
voxels : BoolDS from Voxel)
---Purpose: An internal method, which checks correspondance
-- of voxels to the parameters defined by user.
returns Boolean from Standard
is private;
fields
-- Initial data.
myShapes : ListOfShape from TopTools;
myDeflection : Real from Standard;
myNbX : Integer from Standard;
myNbY : Integer from Standard;
myNbZ : Integer from Standard;
myUsageOfVolume : Boolean from Standard;
myKeepCollisions : Boolean from Standard;
-- User-defined boundary box of shapes.
myX : Real from Standard;
myY : Real from Standard;
myZ : Real from Standard;
myXLen : Real from Standard;
myYLen : Real from Standard;
myZLen : Real from Standard;
-- An array of voxels of all shapes.
myVoxels : Address from Standard;
-- The result.
myCollisions : BoolDS from Voxel;
myHasCollisions : Boolean from Standard;
end CollisionDetection;
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