collide.py

Collision-detection-related program code.

These functions and classes use the Vector class from dmsgl.py.

Summary

Classes

Sphere functions Sphere(center=[0,0,0], radius=1)
setCenter(center)
draw()
drawWireframe()
variables center    (Vector)
radius    (float)
AABB functions AABB(min=[-1,-1,-1], max=[1,1,1])
draw()
drawWireframe()
variables min    (3 element list)
max    (3 element list)
OBB functions OBB(center=[0,0,0], u=[1,0,0], v=[0,1,0], w=[0,0,1])
setCenter(center)
setAxes(u,v,w)
draw()
drawWireframe()
variables center    (Vector)
u    (Vector)
v    (Vector)
w    (Vector)
Line functions Line(origin=[0,0,0], direction=[0,0,1])
setOrigin(origin)
setDirection(direction)
draw(t0=0, t1=1)
drawWireframe(t0=0, t1=1)
variables origin    (Vector)
direction    (Vector)
Segment functions Segment(origin=[0,0,0], point2=None, direction=[0,0,1], length=1)
setOrigin(origin)
setDirection(direction)
draw()
drawWireframe()
variables origin    (Vector)
direction    (Vector)
length    (float)
Plane functions Plane(coeffs=[0,0,1,0])
value(point)
draw(width=1, height=1)
drawWireframe(width=1, height=1)
variables coeffs    (4 element list)

Functions

PointSphereDistance(point, sphere)
PointAABBDistance(point, aabb)
PointOBBDistance(point, obb)
PointLineDistance(point, line)
PointSegmentDistance(point, segment)
PointPlaneDistance(point, plane)

SphereSphereDistance(sphere, sphere)
SphereAABBDistance(sphere, aabb)
SphereOBBDistance(sphere, obb)
SphereLineDistance(sphere, line)
SphereSegmentDistance(sphere, segment)
SpherePlaneDistance(sphere, plane)

SphereContainsPoint(sphere, point)
AABBContainsPoint(aabb, point)
OBBContainsPoint(obb, point)

SphereCollidesSphere(sphere1, sphere2)
SphereCollidesAABB(sphere, aabb)
SphereCollidesOBB(sphere, obb)
AABBCollidesAABB(aabb1, aabb2)

SphereContainsSphere(sphere1, sphere2)
AABBContainsAABB(aabb1, aabb2)

LineIntersectsSphere(line, sphere)
LineIntersectsPlane(line, plane)

LineSphereIntersection(line, sphere)
LinePlaneIntersection(line, plane)
SegmentSphereIntersection(segment, sphere)
SegmentPlaneIntersection(segment, plane)

WFObjectBoundingSphere(obj)
WFObjectBoundingAABB(obj)
WFObjectBoundingOBB(obj)

Classes

Sphere

A spherical volume - consists of a center and a radius.

Sphere(center, radius)

Constructor. The center should be a 3-element list or Vector; the radius is a single floating point value.
Defaults are center=[0,0,0], radius=1
Example: 

s = Sphere([5, 0, -1.5], 2.2)
s.radius = 3

setCenter(center)

Changes the center position of a sphere. The argument should be a 3-element list or Vector. This function is provided to ensure that the member variable center is always a Vector.
Example: 

s.setCenter([-5, 0.1, 0])

draw()

Renders the sphere volume, using glutSolidSphere().
Example: 

glColor3f(1, 0, 0)
s.draw()

drawWireframe()

Renders the sphere volume in wireframe, using glutWireSphere().
Example: 

glColor3f(1, 0, 0)
s.drawWireframe()

AABB

An axis-aligned bounding box volume. Has two member variables, min & max, which are 3-element lists with the minimum X/Y/Z values and the maximum X/Y/Z values.





Example: