orientedboundingbox 基于OBB包围盒的碰撞检测模型 opengl

/* * This Code Was Created By Jeff Molofee 2000 * A HUGE Thanks To Fredric Echols For Cleaning Up * And Optimizing The Base Code, Making It More Flexible! * If You've Found This Code Useful, Please Let Me Know. * Visit My Site At nehe.gamedev.net */ #include <windows.h> // Header File For Windows #include <gl\gl.h> // Header File For The OpenGL32 Library #include <gl\glu.h> // Header File For The GLu32 Library #include <gl\glaux.h> // Header File For The Glaux Library #include "OrientedBoundingBox.h" HDC hDC=NULL; // Private GDI Device Context HGLRC hRC=NULL; // Permanent Rendering Context HWND hWnd=NULL; // Holds Our Window Handle HINSTANCE hInstance; // Holds The Instance Of The Application bool keys[256]; // Array Used For The Keyboard Routine bool active=TRUE; // Window Active Flag Set To TRUE By Default bool fullscreen=TRUE; // Fullscreen Flag Set To Fullscreen Mode By Default GLfloat rtri; // Angle For The Triangle ( NEW ) GLfloat rquad; // Angle For The Quad ( NEW ) #define MAX_OBBS 20 COrientedBoundingBox gOBBArray[MAX_OBBS]; float getRandomMinMax( float fMin, float fMax ) { float fRandNum = (float)rand () / RAND_MAX; return fMin + (fMax - fMin) * fRandNum; } GSVector3D_f getRandomVector( void ) { GSVector3D_f vVector; vVector.z = getRandomMinMax( -1.0f, 1.0f ); float radius = (float)sqrt(1 - vVector.z * vVector.z); float t = getRandomMinMax( -GSMath::PI, GSMath::PI); vVector.x = (float)cosf(t) * radius; vVector.y = (float)sinf(t) * radius; return vVector; } LRESULT CALLBACK WndProc(HWND, UINT, WPARAM, LPARAM); // Declaration For WndProc GLvoid ReSizeGLScene(GLsizei width, GLsizei height) // Resize And Initialize The GL Window { if (height==0) // Prevent A Divide By Zero By { height=1; // Making Height Equal One } glViewport(0,0,width,height); // Reset The Current Viewport glMatrixMode(GL_PROJECTION); // Select The Projection Matrix glLoadIdentity(); // Reset The Projection Matrix // Calculate The Aspect Ratio Of The Window gluPerspective(45.0f,(GLfloat)width/(GLfloat)height,0.1f,100.0f); glMatrixMode(GL_MODELVIEW); // Select The Modelview Matrix glLoadIdentity(); // Reset The Modelview Matrix } int InitGL(GLvoid) // All Setup For OpenGL Goes Here { glShadeModel(GL_SMOOTH); // Enable Smooth Shading glClearColor(0.0f, 0.0f, 0.0f, 0.5f); // Black Background glClearDepth(1.0f); // Depth Buffer Setup glEnable(GL_DEPTH_TEST); // Enables Depth Testing glDepthFunc(GL_LEQUAL); // The Type Of Depth Testing To Do glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST); // Really Nice Perspective Calculations for(int i=0; i<MAX_OBBS; i++) { gOBBArray[i].setSize(1.0f); gOBBArray[i].mPosition = getRandomVector()*5; gOBBArray[i].mVel = getRandomVector(); gOBBArray[i].mVel *= 0.05; gOBBArray[i].mRotate.set(1,1,1); gOBBArray[i].mAngleVel = getRandomVector(); gOBBArray[i].mAngleVel *= 0.5; } return TRUE; // Initialization Went OK } int DrawGLScene(GLvoid) // Here's Where We Do All The Drawing { static DWORD startTime = 0; startTime = GetTickCount(); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear Screen And Depth Buffer glMatrixMode(GL_MODELVIEW); glLoadIdentity(); // Reset The Current Modelview Matrix gluLookAt(0,0,10,0,0,0,0,1,0); for(int i=0; i<MAX_OBBS; i++) { if(gOBBArray[i].mPosition.x < -5 || gOBBArray[i].mPosition.x > 5 || gOBBArray[i].mPosition.y > 5 || gOBBArray[i].mPosition.y < -5 || gOBBArray[i].mPosition.z > 5 || gOBBArray[i].mPosition.z < -5 ) { gOBBArray[i].mVel *= -1.0f; } for(int j=0; j<MAX_OBBS; j++) { if(i != j) { if(gOBBArray[i].intersects(gOBBArray[j])) { gOBBArray[i].mVel *= -1.0f; break; } } } gOBBArray[i].update(); gOBBArray[i].render(); } while(GetTickCount() - startTime < 6); return TRUE; // Keep Going } GLvoid KillGLWindow(GLvoid) // Properly Kill The Window { if (fullscreen) // Are We In Fullscreen Mode? { ChangeDisplaySettings(NULL,0); // If So Switch Back To The Desktop ShowCursor(TRUE); // Show Mouse Pointer } if (hRC) // Do We Have A Rendering Context? { if (!wglMakeCurrent(NULL,NULL)) // Are We Able To Release The DC And RC Contexts? { MessageBox(NULL,"Release Of DC And RC Failed.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION); } if (!wglDeleteContext(hRC)) // Are We Able To Delete The RC? { MessageBox(NULL,"Release Rendering Context Failed.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION); } hRC=NULL; // Set RC To NULL } if (hDC && !ReleaseDC(hWnd,hDC)) // Are We Able To Release The DC { MessageBox(NULL,"Release Device Context Failed.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION); hDC=NULL; // Set DC To NULL } if (hWnd && !DestroyWindow(hWnd)) // Are We Able To Destroy The Window? { MessageBox(NULL,"Could Not Release hWnd.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION); hWnd=NULL; // Set hWnd To NULL } if (!UnregisterClass("OpenGL",hInstance)) // Are We Able To Unregister Class { MessageBox(NULL,"Could Not Unregister Class.","SHUTDOWN ERROR",MB_OK | MB_ICONINFORMATION); hInstance=NULL; // Set hInstance To NULL } } /* This Code Creates Our OpenGL Window. Parameters Are: * * title - Title To Appear At The Top Of The Window * * width - Width Of The GL Window Or Fullscreen Mode * * height - Height Of The GL Window Or Fullscreen Mode * * bits - Number Of Bits To Use For Color (8/16/24/32) * * fullscreenflag - Use Fullscreen Mode (TRUE) Or Windowed Mode (FALSE) */ BOOL CreateGLWindow(char* title, int width, int height, int bits, bool fullscreenflag) { GLuint PixelFormat; // Holds The Results After Searching For A Match WNDCLASS wc; // Windows Class Structure DWORD dwExStyle; // Window Extended Style DWORD dwStyle; // Window Style RECT WindowRect; // Grabs Rectangle Upper Left / Lower Right Values WindowRect.left=(long)0; // Set Left Value To 0 WindowRect.right=(long)width; // Set Right Value To Requested Width WindowRect.top=(long)0; // Set Top Value To 0 WindowRect.bottom=(long)height; // Set Bottom Value To Requested Height fullscreen=fullscreenflag; // Set The Global Fullscreen Flag hInstance = GetModuleHandle(NULL); // Grab An Instance For Our Window wc.style = CS_HREDRAW | CS_VREDRAW | CS_OWNDC; // Redraw On Size, And Own DC For Window. wc.lpfnWndProc = (WNDPROC) WndProc; // WndProc Handles Messages wc.cbClsExtra = 0; // No Extra Window Data wc.cbWndExtra = 0; // No Extra Window Data wc.hInstance = hInstance; // Set The Instance wc.hIcon = LoadIcon(NULL, IDI_WINLOGO); // Load The Default Icon wc.hCursor = LoadCursor(NULL, IDC_ARROW); // Load The Arrow Pointer wc.hbrBackground = NULL; // No Background Required For GL wc.lpszMenuName = NULL; // We Don't Want A Menu wc.lpszClassName = "OpenGL"; // Set The Class Name if (!RegisterClass(&wc)) // Attempt To Register The Window Class { MessageBox(NULL,"Failed To Register The Window Class.","ERROR",MB_OK|MB_ICONEXCLAMATION); return FALSE; // Return FALSE } if (fullscreen) // Attempt Fullscreen Mode? { DEVMODE dmScreenSettings; // Device Mode memset(&dmScreenSettings,0,sizeof(dmScreenSettings)); // Makes Sure Memory's Cleared dmScreenSettings.dmSize=sizeof(dmScreenSettings); // Size Of The Devmode Structure dmScreenSettings.dmPelsWidth = width; // Selected Screen Width dmScreenSettings.dmPelsHeigh