collisiondetectors/CD_Linear.cpp

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#include "CollisionDetectors\CD_Linear.h"
#include "Universe\Universe.h"


CD_Linear::CD_Linear (const CD_Linear& right)
  :     
        CollisionDetectorBase( right ),
        CD_Bool( right ),
        m_StatNumberOfLinearCalls( 0 )
{
        // Copy Constructor
        useWrapping = right.useWrapping;
}

CD_Linear::CD_Linear( const Universe& universe )
:       
        CollisionDetectorBase( universe ),
        CD_Bool( universe ),
        m_StatNumberOfLinearCalls( 0 )
{
        // Default:  Do not use wrapping joints.
    useWrapping = false;
}

CD_Linear::~CD_Linear()
{
}

Configuration CD_Linear::GetLastIntersection () const
{
        return lastIntersection ;
}

Configuration CD_Linear::GetLastValid () const
{
        return lastValid ;
}

//=============================================================================
// LinearTest
//
// Description: tests the linear path in CSpace and returns the status
//=============================================================================
CD_RESULT CD_Linear::LinearTest( const Configuration& c1, const Configuration& c2 )
{
    bool completelyFree = true;
    bool completelyObstacle = true;
    unsigned int steps = 32;
    int i;
    for( i = 0; i <= steps; ++i )
    {
        double percent = static_cast< double >( i ) / static_cast< double >( steps );
        Configuration current = c1 * percent + c2 * ( 1.0 - percent );
        bool collision = IsInterfering( current );
        if( collision )
        {
            completelyFree = false;
        }
        else
        {
            completelyObstacle = false;
        }

        if( ( !completelyFree ) && (!completelyObstacle ) )
        {
            return CD_PARTIAL;
        }
    }

    if( completelyFree )
    {
        return CD_FREE;
    }
    return CD_OBSTACLE;
}

//=============================================================================
// IncrementLinearStat
//
// Description: gets the stat of how many times this has been called
//=============================================================================
int CD_Linear::GetNumberOfTimesCalledLinear()
{
        return this->m_StatNumberOfLinearCalls;
}

//=============================================================================
// IncrementLinearStat
//
// Description: increments the stats of how many times this collision detector 
// has been called
//=============================================================================
void CD_Linear::IncrementLinearStat()
{
        m_StatNumberOfLinearCalls++;
}

//resets the stats for counting number of times called
void CD_Linear::ResetStats()
{
        CD_Bool::ResetStats();
        m_StatNumberOfLinearCalls = 0;
}


void CD_Linear::SetUseWrapping( bool wrapping )
{
        useWrapping = wrapping;
}

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