Shapes: Collision object, providing more detailed collision information.

Doxyfile

@@ -204,6 +204,7 @@ ALIASES                = \
     "configurationvalueref{1}=@see @ref configurationvalues \"Corrade::Utility::ConfigurationValue<\1>\"" \
     "configurationvalue{1}=@brief %Configuration value parser and writer @xrefitem configurationvalues \"Configuration value parser and writer\" \"Configuration value parsers and writers for custom types\" Allows parsing and writing \1 from and to Corrade::Utility::Configuration." \
     "collisionoccurenceoperator{2}=@relates \1\n@brief %Collision occurence of %\1 and %\2\n@see \2::operator%(const \1&) const" \
+    "collisionoperator{2}=@relates \1\n@brief %Collision of %\1 and %\2\n@see \2::operator/(const \1&) const" \
     "todoc=@xrefitem todoc \"Documentation todo\" \"Documentation-related todo list\"" \
     "fn_gl{1}=<a href=\"http://www.opengl.org/sdk/docs/man4/xhtml/gl\1.xml\">gl\1()</a>" \
     "fn_gl_extension{3}=<a href=\"http://www.opengl.org/registry/specs/\2/\3.txt\">gl\1<b></b>\2()</a>" \

doc/coding-style.dox

@@ -102,11 +102,15 @@ Additionally to @c \@todoc, @c \@debugoperator @c \@configurationvalue and
 
 @subsubsection documentation-commands-collisionoperator Shape collision operators
 
-Out-of-class operators for collision occurence in Shapes namespace should be
-marked with @c \@collisionoccurenceoperator, e.g.:
+Out-of-class operators for collision and collision occurence in Shapes
+namespace should be marked with @c \@collisionoperator and @c \@collisionoccurenceoperator,
+e.g.:
 @code
 // @collisionoccurenceoperator{Point,Sphere}
 inline bool operator%(const Point& a, const Sphere& b) { return b % a; }
+
+// @collisionoperator{Point,Sphere}
+inline Collision operator/(const Point& a, const Sphere& b) { return (b/a).reverted(); }
 @endcode
 They will appear as related functions within documentation of class for which
 the operator is implemented (not of class in which the operator is

src/Shapes/CMakeLists.txt

@@ -46,6 +46,7 @@ set(MagnumShapes_HEADERS
     Box.h
     Capsule.h
     Cylinder.h
+    Collision.h
     Composition.h
     Line.h
     LineSegment.h

src/Shapes/Collision.h

@@ -0,0 +1,131 @@
+#ifndef Magnum_Shapes_Collision_h
+#define Magnum_Shapes_Collision_h
+/*
+    This file is part of Magnum.
+
+    Copyright © 2010, 2011, 2012, 2013 Vladimír Vondruš <mosra@centrum.cz>
+
+    Permission is hereby granted, free of charge, to any person obtaining a
+    copy of this software and associated documentation files (the "Software"),
+    to deal in the Software without restriction, including without limitation
+    the rights to use, copy, modify, merge, publish, distribute, sublicense,
+    and/or sell copies of the Software, and to permit persons to whom the
+    Software is furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+    DEALINGS IN THE SOFTWARE.
+*/
+
+/** @file
+ * @brief Class @ref Magnum::Shapes::Collision
+ */
+
+#include "Math/Vector2.h"
+#include "Math/Vector3.h"
+#include "DimensionTraits.h"
+
+namespace Magnum { namespace Shapes {
+
+/**
+@brief %Collision data
+
+Contains information about collision between objects A and B, described by
+contact position, separation normal and separation distance.
+
+If the collision occured, contact position is on object B surface, separation
+normal is *normalized* vector in which direction should object A be moved to
+separate the bodies, separation distance is positive and describes minimal
+movement of object A in direction of separation normal after which the contact
+position will no longer be colliding with object A.
+
+If the collision not occured, contact position and separation normal is
+undefined (i.e., *not* normalized) and separation distance is negative or zero.
+@see @ref Collision2D, @ref Collision3D
+*/
+template<UnsignedInt dimensions> class Collision {
+    public:
+        /**
+         * @brief Default constructor
+         *
+         * Sets position, normal and separation distance to zero, as if no
+         * collision happened.
+         */
+        /*implicit*/ Collision(): _separationDistance(0.0f) {}
+
+        /**
+         * @brief Constructor
+         *
+         * If separation distance is positive, the separation normal is
+         * expected to be normalized.
+         */
+        explicit Collision(typename DimensionTraits<dimensions, Float>::VectorType position, typename DimensionTraits<dimensions, Float>::VectorType separationNormal, Float separationDistance) noexcept: _position(position), _separationNormal(separationNormal), _separationDistance(separationDistance) {
+            CORRADE_ASSERT(_separationDistance < Math::TypeTraits<Float>::epsilon() || separationNormal.isNormalized(), "Shapes::Collision::Collision: separation normal is not normalized", );
+        }
+
+        /**
+         * @brief Whether the collision happened
+         *
+         * Negative or zero separation distance means that no collision
+         * happened.
+         * @see @ref separationDistance()
+         */
+        operator bool() const { return _separationDistance > 0.0f; }
+
+        /** @brief %Collision position */
+        typename DimensionTraits<dimensions, Float>::VectorType position() const {
+            return _position;
+        }
+
+        /**
+         * @brief Separation normal
+         *
+         * @see @ref separationDistance(), @ref flipped()
+         */
+        typename DimensionTraits<dimensions, Float>::VectorType separationNormal() const {
+            return _separationNormal;
+        }
+
+        /**
+         * @brief Separation distance
+         *
+         * @see @ref separationNormal(), operator bool()
+         */
+        Float separationDistance() const {
+            return _separationDistance;
+        }
+
+        /**
+         * @brief Flipped collision
+         *
+         * Returns new collision object as if the collision occured between
+         * flipped pair of objects, i.e. with flipped separation normal and
+         * contact position on surface of object A.
+         * @see @ref position(), @ref separationNormal()
+         */
+        Collision<dimensions> flipped() const {
+            return Collision<dimensions>(_position - _separationDistance*_separationNormal, -_separationNormal, _separationDistance);
+        }
+
+    private:
+        typename DimensionTraits<dimensions, Float>::VectorType _position;
+        typename DimensionTraits<dimensions, Float>::VectorType _separationNormal;
+        Float _separationDistance;
+};
+
+/** @brief Two-dimensional collision data */
+typedef Collision<2> Collision2D;
+
+/** @brief Three-dimensional collision data */
+typedef Collision<3> Collision3D;
+
+}}
+
+#endif

src/Shapes/Shapes.h

@@ -48,6 +48,10 @@ template<UnsignedInt> class Capsule;
 typedef Capsule<2> Capsule2D;
 typedef Capsule<3> Capsule3D;
 
+template<UnsignedInt> class Collision;
+typedef Collision<2> Collision2D;
+typedef Collision<3> Collision3D;
+
 template<UnsignedInt> class Composition;
 typedef Composition<2> Composition2D;
 typedef Composition<3> Composition3D;

src/Shapes/Test/CMakeLists.txt

@@ -26,6 +26,7 @@ corrade_add_test(ShapesShapeImplementationTest ShapeImplementationTest.cpp LIBRA
 corrade_add_test(ShapesAxisAlignedBoxTest AxisAlignedBoxTest.cpp LIBRARIES MagnumShapes)
 corrade_add_test(ShapesBoxTest BoxTest.cpp LIBRARIES MagnumShapes)
 corrade_add_test(ShapesCapsuleTest CapsuleTest.cpp LIBRARIES MagnumShapes)
+corrade_add_test(ShapesCollisionTest CollisionTest.cpp LIBRARIES MagnumShapes)
 corrade_add_test(ShapesCylinderTest CylinderTest.cpp LIBRARIES MagnumShapes)
 corrade_add_test(ShapesLineTest LineTest.cpp LIBRARIES MagnumShapes)
 corrade_add_test(ShapesPlaneTest PlaneTest.cpp LIBRARIES MagnumShapes)

src/Shapes/Test/CollisionTest.cpp

@@ -0,0 +1,61 @@
+/*
+    This file is part of Magnum.
+
+    Copyright © 2010, 2011, 2012, 2013 Vladimír Vondruš <mosra@centrum.cz>
+
+    Permission is hereby granted, free of charge, to any person obtaining a
+    copy of this software and associated documentation files (the "Software"),
+    to deal in the Software without restriction, including without limitation
+    the rights to use, copy, modify, merge, publish, distribute, sublicense,
+    and/or sell copies of the Software, and to permit persons to whom the
+    Software is furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+    DEALINGS IN THE SOFTWARE.
+*/
+
+#include <TestSuite/Tester.h>
+
+#include "Shapes/Collision.h"
+#include "Magnum.h"
+
+namespace Magnum { namespace Shapes { namespace Test {
+
+class CollisionTest: public TestSuite::Tester {
+    public:
+        explicit CollisionTest();
+
+        void boolConversion();
+        void flipped();
+};
+
+CollisionTest::CollisionTest() {
+    addTests({&CollisionTest::boolConversion,
+              &CollisionTest::flipped});
+}
+
+void CollisionTest::boolConversion() {
+    CORRADE_VERIFY(!Collision3D());
+    CORRADE_VERIFY(!Collision3D({}, {2.0f, 0.0f, 0.0f}, 0.0f));
+    CORRADE_VERIFY(!Collision3D({}, {0.0f, 0.0f, 2.0f}, -0.1f));
+    CORRADE_VERIFY(Collision3D({}, {0.0f, 1.0f, 0.0f}, 0.1f));
+}
+
+void CollisionTest::flipped() {
+    const auto flipped = Collision3D({-1.0f, 0.5f, 3.0f}, {1.0f, 0.0f, 0.0f}, 0.5f).flipped();
+    CORRADE_COMPARE(flipped.position(), Vector3(-1.5f, 0.5f, 3.0f));
+    CORRADE_COMPARE(flipped.separationNormal(), Vector3(-1.0f, 0.0f, 0.0f));
+    CORRADE_COMPARE(flipped.separationDistance(), 0.5f);
+}
+
+}}}
+
+CORRADE_TEST_MAIN(Magnum::Shapes::Test::CollisionTest)