/cygdrive/d/src/svn/vrut/trunk/modules/collision_detection/collision_detectors.h

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#pragma once
#include "../../core/src/bvolumes.h"
#include "../../core/src/geometry.h"
#include "../../core/src/evtstructs.h"




using namespace VRUT;

namespace CollisionDetectionNamespace
{
       struct CollisionArea
       {
              std::vector<Triangle> Triangles;
              std::vector<VECTOR3> collisionPoints;
       };

       class Collison_Detector_IFace
       {
       public:
              virtual CollisionReport FindCollision(void* pNode1, void* pNode2) = 0;

       };

       class CollisionDetector
       {
       public:
              enum DetectorType
              {
                     DT_AABB,DT_Triangle, DT_Triangle_Distance
              };

              static CollisionReport DetectCollision(void* pNode1, void* pNode2, DetectorType type);


              static Collison_Detector_IFace* GetColisionDetector(DetectorType type);
       };





       class Collision_detector_AABB : public Collison_Detector_IFace
       {
       public:
              Collision_detector_AABB(){;}
              
              CollisionReport FindCollision(void* pNode1, void* pNode2);
       };





       class Collision_detector_Triangles : public Collison_Detector_IFace
       {
       public:
              Collision_detector_Triangles(){;}

              CollisionReport FindCollision(void* pNode1, void* pNode2);

       private:
              bool intersectSegmentTriangle(VECTOR3 p, VECTOR3 q, Triangle* triangle, VECTOR3& C);
       };

       class Collision_detector_Triangles_Distance : public Collison_Detector_IFace
       {
       public:
              Collision_detector_Triangles_Distance(){;}


              CollisionReport FindCollision(void* pNode1, void* pNode2);
       private:

              float closestPointsSegmentSegment(VECTOR3 p1,VECTOR3 q1,VECTOR3 p2,VECTOR3 q2, VECTOR3& C1, VECTOR3& C2);


              float distanceSegmentSegment(VECTOR3 p1,VECTOR3 q1,VECTOR3 p2,VECTOR3 q2);

              float distanceVertexTriangle(VECTOR3 P, Triangle triangle);


              VECTOR3 closestPointVertexTriangle(VECTOR3 p, Triangle triangle);

              float clamp(float n, float min, float max);
       };

};

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