CD_Pair.h

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#ifndef _CD_PAIR
#define _CD_PAIR
 
#pragma once
 
#include <sch/CD/CD_SimplexEnhanced.h>
#include <sch/CD_Penetration/CD_Depth.h>
#include <sch/S_Object/S_Object.h>
#include <sch/sch_api.h>
 
namespace sch
{
 
class CD_Pair
{
public:
  SCH_API CD_Pair(S_Object * Obj1, S_Object * Obj2);
 
  SCH_API virtual ~CD_Pair(void);
 
  SCH_API Scalar getClosestPoints(Point3 & p1, Point3 & p2);
 
  SCH_API Scalar reComputeClosestPoints(Point3 & p1, Point3 & p2);
 
  SCH_API Scalar getDistance();
 
  SCH_API Scalar getDistanceWithoutPenetrationDepth();
 
  SCH_API bool isInCollision();
 
  SCH_API void setVector(const Vector3 &);
 
  SCH_API const Vector3 & getVector() const;
 
  SCH_API void setRelativePrecision(Scalar precision);
 
  SCH_API void setEpsilon(Scalar);
 
  SCH_API S_Object * operator[](unsigned char i)
  {
    return (i == 0) ? sObj1_ : sObj2_;
  }
 
protected:
  S_Object *sObj1_, *sObj2_;
  Vector3 lastDirection_;
  int lastFeature1_, lastFeature2_;
 
  Scalar GJK();
  Scalar penetrationDepth();
 
  Point3 p1_, p2_;
  Scalar distance_;
 
  S_ObjectTimeStamp stamp1_, stamp2_;
 
  Scalar precision_, epsilon_;
 
  Scalar lambda0_, lambda1_, lambda2_;
  Scalar det_;
 
  bool projectionComputed_;
 
  bool collision_;
 
  bool witPointsAreComputed_;
 
  CD_Simplex s1_, s2_, s_;
 
  CD_SimplexEnhanced sp_;
 
  void witPoints(Point3 & p1, Point3 & p2);
 
  CD_Depth depthPair;
};
} // namespace sch
 
#endif