4049f6ae3b
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@443 92aac97c-a6ce-11dd-a772-7fcde58d38e6
92 lines
5.3 KiB
C++
92 lines
5.3 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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********************************************************************************/
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#ifndef COLLISION_DETECTION_H
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#define COLLISION_DETECTION_H
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// Libraries
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#include "../body/Body.h"
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#include "OverlappingPair.h"
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#include "../engine/PhysicsWorld.h"
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#include "../memory/MemoryPool.h"
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#include "ContactInfo.h"
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#include <vector>
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#include <map>
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#include <set>
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#include <utility>
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// TODO : Add a broadphase and a narrowphase folder in the src/collision/ folder
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Declarations
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class BroadPhaseAlgorithm;
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class NarrowPhaseAlgorithm;
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/* -------------------------------------------------------------------
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Class CollisionDetection :
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This class computes the collision detection algorithms. We first
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perfom a broad-phase algorithm to know which pairs of bodies can
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collide and then we run a narrow-phase algorithm to compute the
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collision contacts between bodies.
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-------------------------------------------------------------------
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*/
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class CollisionDetection {
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private :
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PhysicsWorld* world; // Pointer to the physics world
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std::map<std::pair<luint, luint>, OverlappingPair*> overlappingPairs; // Broad-phase overlapping pairs of bodies
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std::set<std::pair<luint, luint> > currentStepOverlappingPairs; // Overlapping pairs of bodies at the current collision detection step
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std::set<std::pair<luint, luint> > lastStepOverlappingPairs; // Overlapping pairs of bodies at the last collision detection step
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BroadPhaseAlgorithm* broadPhaseAlgorithm; // Broad-phase algorithm
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NarrowPhaseAlgorithm* narrowPhaseAlgorithm; // Narrow-phase algorithm
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MemoryPool<Contact> memoryPoolContacts; // Memory pool for the contacts
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MemoryPool<OverlappingPair> memoryPoolOverlappingPairs; // Memory pool for the overlapping pairs
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void computeBroadPhase(); // Compute the broad-phase collision detection
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bool computeNarrowPhase(); // Compute the narrow-phase collision detection
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public :
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CollisionDetection(PhysicsWorld* physicsWorld); // Constructor
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~CollisionDetection(); // Destructor
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OverlappingPair* getOverlappingPair(luint body1ID, luint body2ID); // Return an overlapping pair or null
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bool computeCollisionDetection(); // Compute the collision detection
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void broadPhaseNotifyOverlappingPair(Body* body1, Body* body2); // Allow the broadphase to notify the collision detection about an overlapping pair
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};
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// Return an overlapping pair of bodies according to the given bodies ID
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// The method returns null if the pair of bodies is not overlapping
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inline OverlappingPair* CollisionDetection::getOverlappingPair(luint body1ID, luint body2ID) {
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std::pair<luint, luint> pair = (body1ID < body2ID) ? std::make_pair(body1ID, body2ID) : std::make_pair(body2ID, body1ID);
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if (overlappingPairs.count(pair) == 1) {
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return overlappingPairs[pair];
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}
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return NULL;
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}
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} // End of the ReactPhysics3D namespace
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#endif
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