192 lines
8.4 KiB
C
192 lines
8.4 KiB
C
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2015 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_TRIANGLE_SHAPE_H
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#define REACTPHYSICS3D_TRIANGLE_SHAPE_H
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// Libraries
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#include "mathematics/mathematics.h"
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#include "CollisionShape.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class TriangleShape
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/**
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* This class represents a triangle collision shape that is centered
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* at the origin and defined three points.
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*/
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class TriangleShape : public CollisionShape {
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protected:
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// -------------------- Attribute -------------------- //
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/// Three points of the triangle
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Vector3 mPoints[3];
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// -------------------- Methods -------------------- //
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/// Private copy-constructor
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TriangleShape(const TriangleShape& shape);
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/// Private assignment operator
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TriangleShape& operator=(const TriangleShape& shape);
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/// Return a local support point in a given direction with the object margin
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virtual Vector3 getLocalSupportPointWithMargin(const Vector3& direction,
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void** cachedCollisionData) const;
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/// Return a local support point in a given direction without the object margin
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virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction,
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void** cachedCollisionData) const;
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/// Return true if a point is inside the collision shape
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virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const;
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/// Raycast method with feedback information
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virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const;
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/// Allocate and return a copy of the object
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virtual TriangleShape* clone(void* allocatedMemory) const;
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/// Return the number of bytes used by the collision shape
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virtual size_t getSizeInBytes() const;
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public:
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// -------------------- Methods -------------------- //
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/// Constructor
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TriangleShape(const Vector3& point1, const Vector3& point2,
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const Vector3& point3, decimal margin);
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/// Destructor
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virtual ~TriangleShape();
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/// Return the local bounds of the shape in x, y and z directions.
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virtual void getLocalBounds(Vector3& min, Vector3& max) const;
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/// Return the local inertia tensor of the collision shape
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virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
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/// Update the AABB of a body using its collision shape
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virtual void computeAABB(AABB& aabb, const Transform& transform);
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/// Test equality between two triangle shapes
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virtual bool isEqualTo(const CollisionShape& otherCollisionShape) const;
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};
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/// Allocate and return a copy of the object
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inline TriangleShape* TriangleShape::clone(void* allocatedMemory) const {
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return new (allocatedMemory) TriangleShape(*this);
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}
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// Return the number of bytes used by the collision shape
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inline size_t TriangleShape::getSizeInBytes() const {
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return sizeof(TriangleShape);
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}
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// Return a local support point in a given direction with the object margin
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inline Vector3 TriangleShape::getLocalSupportPointWithMargin(const Vector3& direction,
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void** cachedCollisionData) const {
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// TODO : Do we need to use margin for triangle support point ?
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return getLocalSupportPointWithoutMargin(direction, cachedCollisionData);
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}
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// Return a local support point in a given direction without the object margin
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inline Vector3 TriangleShape::getLocalSupportPointWithoutMargin(const Vector3& direction,
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void** cachedCollisionData) const {
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Vector3 dotProducts(direction.dot(mPoints[0]), direction.dot(mPoints[1], direction.dot(mPoints[2])));
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return mPoints[dotProducts.getMaxAxis()];
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}
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// Return the local bounds of the shape in x, y and z directions.
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// This method is used to compute the AABB of the box
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/**
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* @param min The minimum bounds of the shape in local-space coordinates
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* @param max The maximum bounds of the shape in local-space coordinates
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*/
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inline void TriangleShape::getLocalBounds(Vector3& min, Vector3& max) const {
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// TODO :This code is wrong
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const Vector3 xAxis(worldPoint1.X, worldPoint2.X, worldPoint3.X);
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const Vector3 yAxis(worldPoint1.Y, worldPoint2.Y, worldPoint3.Y);
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const Vector3 zAxis(worldPoint1.Z, worldPoint2.Z, worldPoint3.Z);
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min.setAllValues(xAxis.getMinAxis(), yAxis.getMinAxis(), zAxis.getMinAxis());
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max.setAllValues(xAxis.getMaxAxis(), yAxis.getMaxAxis(), zAxis.getMaxAxis());
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}
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// Return the local inertia tensor of the triangle shape
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/**
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* @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
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* coordinates
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* @param mass Mass to use to compute the inertia tensor of the collision shape
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*/
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inline void TriangleShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
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tensor.setToZero();
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}
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// Update the AABB of a body using its collision shape
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/**
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* @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape
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* computed in world-space coordinates
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* @param transform Transform used to compute the AABB of the collision shape
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*/
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inline void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) {
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// TODO :This code is wrong
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const Vector3 worldPoint1 = transform * mPoints[0];
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const Vector3 worldPoint2 = transform * mPoints[1];
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const Vector3 worldPoint3 = transform * mPoints[2];
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const Vector3 xAxis(worldPoint1.X, worldPoint2.X, worldPoint3.X);
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const Vector3 yAxis(worldPoint1.Y, worldPoint2.Y, worldPoint3.Y);
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const Vector3 zAxis(worldPoint1.Z, worldPoint2.Z, worldPoint3.Z);
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aabb.setMin(Vector3(xAxis.getMinAxis(), yAxis.getMinAxis(), zAxis.getMinAxis()));
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aabb.setMax(Vector3(xAxis.getMaxAxis(), yAxis.getMaxAxis(), zAxis.getMaxAxis()));
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}
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// Test equality between two triangle shapes
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inline bool TriangleShape::isEqualTo(const CollisionShape& otherCollisionShape) const {
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const TriangleShape& otherShape = dynamic_cast<const TriangleShape&>(otherCollisionShape);
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return (mPoints[0] == otherShape.mPoints[0] &&
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mPoints[1] == otherShape.mPoints[1] &&
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mPoints[2] == otherShape.mPoints[2]);
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}
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// Return true if a point is inside the collision shape
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inline bool TriangleShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const {
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return false;
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}
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}
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#endif
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