The U4DSHAlgorithm class is in charge of implementing the Sutherland-Hodgman algorithm. More...

Inherits U4DEngine::U4DManifoldGeneration.

Public Member Functions
	U4DSHAlgorithm ()
	Constructor for the class.

	~U4DSHAlgorithm ()
	Destructor for the class.

bool	determineContactManifold (U4DDynamicAction uAction1, U4DDynamicAction uAction2, std::vector< SIMPLEXDATA > uQ, COLLISIONMANIFOLDONODE &uCollisionManifoldNode)
	Method which determines the collision contact manifold. It retrieves the collision contact points of the collision. More...

void	determineCollisionManifold (U4DDynamicAction uAction1, U4DDynamicAction uAction2, std::vector< SIMPLEXDATA > uQ, COLLISIONMANIFOLDONODE &uCollisionManifoldNode)
	Method which determines the collision manifold. It computes the collision planes. More...

std::vector< U4DSegment >	clipPolygons (std::vector< CONTACTEDGE > &uReferencePolygons, std::vector< CONTACTEDGE > &uIncidentPolygons)
	Method which clips polygons. More...

std::vector< CONTACTFACES >	mostParallelFacesToPlane (U4DDynamicAction *uAction, U4DPlane &uPlane)
	Method which computes the most parallel faces to collision plane. More...

std::vector< U4DTriangle >	projectFacesToPlane (std::vector< CONTACTFACES > &uFaces, U4DPlane &uPlane)
	Method which projects polygon faces to collision plane. More...

std::vector< CONTACTEDGE >	getEdgesFromFaces (std::vector< U4DTriangle > &uFaces, U4DPlane &uPlane)
	Method which extracs edges from a polygon face. More...

bool	isCenterOfMassWithinReferencePlane (U4DDynamicAction *uAction, std::vector< CONTACTEDGE > &uReferencePolygons)
	Method which computes if the 3D entity center of mass is within the boundary of the reference plane. More...

Public Member Functions inherited from U4DEngine::U4DManifoldGeneration
	U4DManifoldGeneration ()
	Constructor for the class.

	~U4DManifoldGeneration ()
	Destructor for the class.

Public Member Functions inherited from U4DEngine::U4DCollisionDetection
	U4DCollisionDetection ()
	Constructor for class.

virtual	~U4DCollisionDetection ()
	Destructor for class.

virtual bool	collision (U4DDynamicAction uAction1, U4DDynamicAction uAction2, float dt)
	Method with returns true if a collision between two 3D entities have occurred. More...

virtual void	determineCollisionManifold (U4DDynamicAction uAction1, U4DDynamicAction uAction2, std::vector< SIMPLEXDATA > uQ)
	Method which determines the collision manifold. More...

SIMPLEXDATA	calculateSupportPointInDirection (U4DBoundingVolume uBoundingVolume1, U4DBoundingVolume uBoundingVolume2, U4DVector3n &uDirection)
	Method which computes the supporting point in a given direction. More...

U4DPoint3n	determineClosestPointOnSimplexToPoint (U4DPoint3n &uPoint, std::vector< SIMPLEXDATA > uQ)
	Method which determines the closest 3D point on a simplex to a 3D point. More...

std::vector< float >	determineBarycentricCoordinatesInSimplex (U4DPoint3n &uClosestPointToOrigin, std::vector< SIMPLEXDATA > uQ)
	Method which determines the Barycentric coordinates in a Simplex. More...

Detailed Description

The U4DSHAlgorithm class is in charge of implementing the Sutherland-Hodgman algorithm.

Member Function Documentation

◆ clipPolygons()

std::vector< U4DSegment > U4DEngine::U4DSHAlgorithm::clipPolygons	(	std::vector< CONTACTEDGE > &	uReferencePolygons,
		std::vector< CONTACTEDGE > &	uIncidentPolygons
	)

Method which clips polygons.

Parameters

uReferencePolygons	Container holding the reference segments
uIncidentPolygons	Container holding the incidient segments

Returns: Returns a container holding clipped sigments

◆ determineCollisionManifold()

void U4DEngine::U4DSHAlgorithm::determineCollisionManifold	(	U4DDynamicAction *	uAction1,
		U4DDynamicAction *	uAction2,
		std::vector< SIMPLEXDATA >	uQ,
		COLLISIONMANIFOLDONODE &	uCollisionManifoldNode
	)

virtual

Method which determines the collision manifold. It computes the collision planes.

Parameters

uAction1	3D model entity
uAction2	3D model entity
uQ	Simplex Data set
uCollisionManifoldNode	Collision Manifold node

Reimplemented from U4DEngine::U4DManifoldGeneration.

◆ determineContactManifold()

bool U4DEngine::U4DSHAlgorithm::determineContactManifold	(	U4DDynamicAction *	uAction1,
		U4DDynamicAction *	uAction2,
		std::vector< SIMPLEXDATA >	uQ,
		COLLISIONMANIFOLDONODE &	uCollisionManifoldNode
	)

virtual

Method which determines the collision contact manifold. It retrieves the collision contact points of the collision.

Parameters

uAction1	3D model entity
uAction2	3D model entity
uQ	Simplex Data set
uCollisionManifoldNode	Collision Manifold node

Returns: Returns true if the collision contact points were successfully computed

Reimplemented from U4DEngine::U4DManifoldGeneration.

◆ getEdgesFromFaces()

std::vector< CONTACTEDGE > U4DEngine::U4DSHAlgorithm::getEdgesFromFaces	(	std::vector< U4DTriangle > &	uFaces,
		U4DPlane &	uPlane
	)

Method which extracs edges from a polygon face.

Parameters

uFaces	Polygon face
uPlane	collision plane

Returns: Returns a container holding the edges extracted from a polygon face

◆ isCenterOfMassWithinReferencePlane()

bool U4DEngine::U4DSHAlgorithm::isCenterOfMassWithinReferencePlane	(	U4DDynamicAction *	uAction,
		std::vector< CONTACTEDGE > &	uReferencePolygons
	)

Method which computes if the 3D entity center of mass is within the boundary of the reference plane.

Parameters

uAction	3D model entity
uReferencePolygons	Reference polygon

Returns: Returns true if the 3D entity center of mass is within the boundary of the reference plane

◆ mostParallelFacesToPlane()

std::vector< CONTACTFACES > U4DEngine::U4DSHAlgorithm::mostParallelFacesToPlane	(	U4DDynamicAction *	uAction,
		U4DPlane &	uPlane
	)

Method which computes the most parallel faces to collision plane.

Parameters

uAction	Dynamic action
uPlane	Collision plane

Returns: Returns the most parallel faces to plane

◆ projectFacesToPlane()

std::vector< U4DTriangle > U4DEngine::U4DSHAlgorithm::projectFacesToPlane	(	std::vector< CONTACTFACES > &	uFaces,
		U4DPlane &	uPlane
	)

Method which projects polygon faces to collision plane.

Parameters

uFaces	Polygon faces
uPlane	Collision plane

Returns: Returns a container holding the projected polygon faces onto the collision plane

Public Member Functions

Detailed Description

Member Function Documentation

◆ clipPolygons()

◆ determineCollisionManifold()

◆ determineContactManifold()

◆ getEdgesFromFaces()

◆ isCenterOfMassWithinReferencePlane()

◆ mostParallelFacesToPlane()

◆ projectFacesToPlane()