136 lines
5.7 KiB
C++
136 lines
5.7 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2020 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_NARROW_PHASE_INFO_BATCH_H
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#define REACTPHYSICS3D_NARROW_PHASE_INFO_BATCH_H
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// Libraries
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#include <reactphysics3d/engine/OverlappingPairs.h>
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/// Namespace ReactPhysics3D
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namespace reactphysics3d {
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// Declarations
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class CollisionShape;
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struct LastFrameCollisionInfo;
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class ContactManifoldInfo;
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struct ContactPointInfo;
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// Struct NarrowPhaseInfoBatch
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/**
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* This abstract structure collects all the potential collisions from the middle-phase algorithm
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* that have to be tested during narrow-phase collision detection. There is an implementation of
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* this class for each kind of collision detection test. For instance, one for sphere vs sphere,
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* one for sphere vs capsule, ...
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*/
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struct NarrowPhaseInfoBatch {
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protected:
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/// Memory allocator
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MemoryAllocator& mMemoryAllocator;
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/// Reference to all the broad-phase overlapping pairs
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OverlappingPairs& mOverlappingPairs;
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/// Cached capacity
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uint mCachedCapacity = 0;
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public:
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/// List of Broadphase overlapping pairs ids
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List<uint64> overlappingPairIds;
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/// List of pointers to the first colliders to test collision with
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List<Entity> colliderEntities1;
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/// List of pointers to the second colliders to test collision with
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List<Entity> colliderEntities2;
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/// List of pointers to the first collision shapes to test collision with
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List<CollisionShape*> collisionShapes1;
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/// List of pointers to the second collision shapes to test collision with
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List<CollisionShape*> collisionShapes2;
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/// List of transforms that maps from collision shape 1 local-space to world-space
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List<Transform> shape1ToWorldTransforms;
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/// List of transforms that maps from collision shape 2 local-space to world-space
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List<Transform> shape2ToWorldTransforms;
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/// True for each pair of objects that we need to report contacts (false for triggers for instance)
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List<bool> reportContacts;
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/// Result of the narrow-phase collision detection test
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List<bool> isColliding;
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/// List of contact points created during the narrow-phase
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List<List<ContactPointInfo*>> contactPoints;
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/// Memory allocators for the collision shape (Used to release TriangleShape memory in destructor)
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List<MemoryAllocator*> collisionShapeAllocators;
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/// Collision infos of the previous frame
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List<LastFrameCollisionInfo*> lastFrameCollisionInfos;
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/// Constructor
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NarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs);
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/// Destructor
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virtual ~NarrowPhaseInfoBatch();
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/// Return the number of objects in the batch
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uint getNbObjects() const;
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/// Add shapes to be tested during narrow-phase collision detection into the batch
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virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1,
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CollisionShape* shape2, const Transform& shape1Transform,
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const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator);
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/// Add a new contact point
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virtual void addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth,
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const Vector3& localPt1, const Vector3& localPt2);
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/// Reset the remaining contact points
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void resetContactPoints(uint index);
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// Initialize the containers using cached capacity
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virtual void reserveMemory();
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/// Clear all the objects in the batch
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virtual void clear();
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};
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/// Return the number of objects in the batch
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inline uint NarrowPhaseInfoBatch::getNbObjects() const {
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return overlappingPairIds.size();
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}
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}
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#endif
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