reactphysics3d/src/engine/CollisionWorld.h

/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
* Copyright (c) 2010-2012 Daniel Chappuis                                       *
*********************************************************************************
*                                                                               *
* This software is provided 'as-is', without any express or implied warranty.   *
* In no event will the authors be held liable for any damages arising from the  *
* use of this software.                                                         *
*                                                                               *
* Permission is granted to anyone to use this software for any purpose,         *
* including commercial applications, and to alter it and redistribute it        *
* freely, subject to the following restrictions:                                *
*                                                                               *
* 1. The origin of this software must not be misrepresented; you must not claim *
*    that you wrote the original software. If you use this software in a        *
*    product, an acknowledgment in the product documentation would be           *
*    appreciated but is not required.                                           *
*                                                                               *
* 2. Altered source versions must be plainly marked as such, and must not be    *
*    misrepresented as being the original software.                             *
*                                                                               *
* 3. This notice may not be removed or altered from any source distribution.    *
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********************************************************************************/

#ifndef COLLISION_WORLD_H
#define COLLISION_WORLD_H

// Libraries
#include <vector>
#include <set>
#include <algorithm>
#include "../mathematics/mathematics.h"
#include "../body/CollisionBody.h"
#include "OverlappingPair.h"
#include "../collision/CollisionDetection.h"
#include "../constraint/Constraint.h"
#include "../constraint/ContactPoint.h"
#include "../memory/MemoryPool.h"

// Namespace reactphysics3d
namespace reactphysics3d {
    
/*  -------------------------------------------------------------------
    Class CollisionWorld :
        This class represent a world where it is possible to move bodies
        by hand and to test collision between each other. In this kind of
        world, the bodies movement is not computed using the laws of physics.
    -------------------------------------------------------------------
*/
class CollisionWorld {

    protected :

        // -------------------- Attributes -------------------- //

        // Reference to the collision detection
        CollisionDetection mCollisionDetection;

        // All the bodies (rigid and soft) of the world
        std::set<CollisionBody*> mBodies;

        // Broad-phase overlapping pairs of bodies
        std::map<bodyindexpair, OverlappingPair*>  mOverlappingPairs;

        // Current body ID
        bodyindex mCurrentBodyID;

        // Memory pool
        MemoryPool<CollisionBody> mMemoryPoolCollisionBodies;

        // List of free ID for rigid bodies
        std::vector<luint> mFreeBodiesIDs;

        // -------------------- Methods -------------------- //

        // Private copy-constructor
        CollisionWorld(const CollisionWorld& world);

        // Private assignment operator
        CollisionWorld& operator=(const CollisionWorld& world);

        // Notify the world about a new broad-phase overlapping pair
        virtual void notifyAddedOverlappingPair(const BroadPhasePair* addedPair);

        // Notify the world about a removed broad-phase overlapping pair
        virtual void notifyRemovedOverlappingPair(const BroadPhasePair* removedPair);

        // Notify the world about a new narrow-phase contact
        virtual void notifyNewContact(const BroadPhasePair* pair, const ContactInfo* contactInfo);

        // Update the overlapping pair
        virtual void updateOverlappingPair(const BroadPhasePair* pair);

        // Return the next available body ID
        bodyindex computeNextAvailableBodyID();

    public :

        // ----- Methods ----- //

        // Constructor
        CollisionWorld();

        // Destructor
        virtual ~CollisionWorld();

        // Return an iterator to the beginning of the bodies of the physics world
        std::set<CollisionBody*>::iterator getBodiesBeginIterator();

        // Return an iterator to the end of the bodies of the physics world
        std::set<CollisionBody*>::iterator getBodiesEndIterator();

        // Create a collision body
        CollisionBody* createCollisionBody(const Transform& transform,
                                           CollisionShape* collisionShape);

        // Destroy a collision body
        void destroyCollisionBody(CollisionBody* collisionBody);

        // ----- Friends ----- //

        friend class CollisionDetection;
};

// Return an iterator to the beginning of the bodies of the physics world
inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesBeginIterator() {
    return mBodies.begin();
}

// Return an iterator to the end of the bodies of the physics world
inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesEndIterator() {
    return mBodies.end();
}

}   // End of the ReactPhysics3D namespace

 #endif