Efficient collision detection. More...

#include <easy3d/algo/collider.h>

Public Member Functions
	Collider (SurfaceMesh mesh0, SurfaceMesh mesh1)

std::vector< std::pair< SurfaceMesh::Face, SurfaceMesh::Face > >	detect (const mat4 &t0, const mat4 &t1) const

Detailed Description

Efficient collision detection.

This class takes two triangle meshes and their transformation matrices as input and outputs the intersecting face pairs. This implementation is a wrapper of Opcode. It can achieve real-time performance for large meshes.

Todo: Extension to general polygonal meshes (by internally triangulate the input).

Examples: Tutorial_406_CollisionDetection/main.cpp.

Constructor & Destructor Documentation

◆ Collider()

Collider	(	SurfaceMesh *	mesh0,
		SurfaceMesh *	mesh1 )

Constructor. It internally initializes the collider (by building the AABB trees) for subsequent efficient collision detection.

Parameters

mesh0	The first mesh (must be triangle mesh).
mesh1	The second mesh (must be triangle mesh).

Member Function Documentation

◆ detect()

std::vector< std::pair< SurfaceMesh::Face, SurfaceMesh::Face > > detect	(	const mat4 &	t0,
		const mat4 &	t1 ) const

Performs collision detection.