Collision Detection

Functions
void	ne10_physics_compute_aabb_vec2f_c (ne10_mat2x2f_t *aabb, ne10_vec2f_t *vertices, ne10_mat2x2f_t *xf, ne10_vec2f_t *radius, ne10_uint32_t vertex_count)
	compute AABB for ploygon. More...
void	ne10_physics_relative_v_vec2f_c (ne10_vec2f_t *dv, ne10_vec3f_t *v_wa, ne10_vec2f_t *ra, ne10_vec3f_t *v_wb, ne10_vec2f_t *rb, ne10_uint32_t count)
	calculate relative velocity at contact. More...
void	ne10_physics_apply_impulse_vec2f_c (ne10_vec3f_t *v_wa, ne10_vec3f_t *v_wb, ne10_vec2f_t *ra, ne10_vec2f_t *rb, ne10_vec2f_t *ima, ne10_vec2f_t *imb, ne10_vec2f_t *p, ne10_uint32_t count)
	apply contact impulse. More...

Detailed Description

Collision detection typically refers to the computational problem of detecting the intersection of two or more objects.

This set of functions are used for collision detection algorithm for 32-bit float data types. Currently compute AABB, caculate relative velocity and apply contact impulse were implemented.

Function Documentation

ne10_physics_apply_impulse_vec2f_c()

void ne10_physics_apply_impulse_vec2f_c	(	ne10_vec3f_t *	v_wa,
		ne10_vec3f_t *	v_wb,
		ne10_vec2f_t *	ra,
		ne10_vec2f_t *	rb,
		ne10_vec2f_t *	ima,
		ne10_vec2f_t *	imb,
		ne10_vec2f_t *	p,
		ne10_uint32_t	count
	)

apply contact impulse.

Parameters

	[in/out]	*v_wa return velocity and angular velocity of body a
	[in/out]	*v_wb return velocity and angular velocity of body b
[in]	*ra	distance vector from center of mass of body a to contact point
[in]	*rb	distance vector from center of mass of body b to contact point
[in]	*ima	constant of body a
[in]	*imb	constant of body b
[in]	*p	constant
[in]	count	the number of items

Returns

none.

To improve performance, 2 items are processed in one loop

Definition at line 176 of file NE10_physics.c.

ne10_physics_compute_aabb_vec2f_c()

void ne10_physics_compute_aabb_vec2f_c	(	ne10_mat2x2f_t *	aabb,
		ne10_vec2f_t *	vertices,
		ne10_mat2x2f_t *	xf,
		ne10_vec2f_t *	radius,
		ne10_uint32_t	vertex_count
	)

compute AABB for ploygon.

Parameters

[out]	*aabb	return axis aligned box
[in]	*vertices	a convex polygon
[in]	*xf	the position and orientation of rigid
[in]	radius	the aligned bounding
[in]	vertex_count	vertices count of convex ploygen

Returns

none. The function is to compute AABB for ploygon. vertex_count > 0.

Definition at line 95 of file NE10_physics.c.

ne10_physics_relative_v_vec2f_c()

void ne10_physics_relative_v_vec2f_c	(	ne10_vec2f_t *	dv,
		ne10_vec3f_t *	v_wa,
		ne10_vec2f_t *	ra,
		ne10_vec3f_t *	v_wb,
		ne10_vec2f_t *	rb,
		ne10_uint32_t	count
	)

calculate relative velocity at contact.

Parameters

[out]	*dv	return relative velocity
[in]	*v_wa	velocity and angular velocity of body a
[in]	*ra	distance vector from center of mass of body a to contact point
[in]	*v_wb	velocity and angular velocity of body b
[in]	*rb	distance vector from center of mass of body b to contact point
[in]	count	the number of items

Returns

none.

To improve performance, 2 items are processed in one loop

Definition at line 132 of file NE10_physics.c.