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coldetimpl.h

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#ifndef H_COLDET_IMPL
#define H_COLDET_IMPL

#include "coldet.h"
#include "box.h"
#include "math3d.h"
#include <vector>

__CD__BEGIN

class CollisionModel3DImpl : public CollisionModel3D
{
public:
  CollisionModel3DImpl(bool Static);
  void setTriangleNumber(int num) { if (!m_Final) m_Triangles.reserve(num); }

  void addTriangle(float x1, float y1, float z1,
                   float x2, float y2, float z2,
                   float x3, float y3, float z3)
  {
    addTriangle(Vector3D(x1,y1,z1),
                Vector3D(x2,y2,z2),
                Vector3D(x3,y3,z3));
  }
  void addTriangle(float v1[3], float v2[3], float v3[3])
  {
    addTriangle(Vector3D(v1[0],v1[1],v1[2]),
                Vector3D(v2[0],v2[1],v2[2]),
                Vector3D(v3[0],v3[1],v3[2]));
  }
  void addTriangle(const Vector3D& v1, const Vector3D& v2, const Vector3D& v3);
  void finalize();

  void setTransform(float m[16]) { setTransform(*(Matrix3D*)m); }
  void setTransform(const Matrix3D& m);

  bool collision(CollisionModel3D* other, 
                 int AccuracyDepth, 
                 int MaxProcessingTime,
                 float* other_transform);

  bool rayCollision(float origin[3], float direction[3], bool closest,
                    float segmin, float segmax);
  bool sphereCollision(float origin[3], float radius);

  bool getCollidingTriangles(float t1[9], float t2[9], bool ModelSpace);
  bool getCollidingTriangles(int& t1, int& t2);
  bool getCollisionPoint(float p[3], bool ModelSpace);


  int getTriangleIndex(BoxedTriangle* bt)
  {
    return int(bt-m_Triangles.begin());
  }

  std::vector<BoxedTriangle> m_Triangles;
  BoxTreeInnerNode           m_Root;
  Matrix3D                   m_Transform,m_InvTransform;
  Triangle                   m_ColTri1,m_ColTri2;
  int                        m_iColTri1,m_iColTri2;
  Vector3D                   m_ColPoint;

  enum { Models, Ray, Sphere }       
                             m_ColType;
  bool                       m_Final;
  bool                       m_Static;
};

__CD__BEGIN

#endif // H_COLDET_IMPL

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