reactphysics3d/src/collision/NarrowPhaseInfo.h

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2016 Daniel Chappuis                                       *
*********************************************************************************
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* This software is provided 'as-is', without any express or implied warranty.   *
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#ifndef REACTPHYSICS3D_NARROW_PHASE_INFO_H
#define REACTPHYSICS3D_NARROW_PHASE_INFO_H

// Libraries
#include "shapes/CollisionShape.h"
#include "collision/ContactManifoldInfo.h"

/// Namespace ReactPhysics3D
namespace reactphysics3d {

class OverlappingPair;

// Class NarrowPhaseInfo
/**
 * This structure regroups different things about a collision shape. This is
 * used to pass information about a collision shape to a collision algorithm.
 */
struct NarrowPhaseInfo {

    public:

        /// Broadphase overlapping pair
        OverlappingPair* overlappingPair;

        /// Pointer to the first collision shape to test collision with
        const CollisionShape* collisionShape1;

        /// Pointer to the second collision shape to test collision with
        const CollisionShape* collisionShape2;

        /// Transform that maps from collision shape 1 local-space to world-space
        Transform shape1ToWorldTransform;

        /// Transform that maps from collision shape 2 local-space to world-space
        Transform shape2ToWorldTransform;

        /// Linked-list of contact points created during the narrow-phase
        ContactPointInfo* contactPoints;

        /// Cached collision data of the proxy shape
        // TODO : Check if we can use separating axis in OverlappingPair instead of cachedCollisionData1 and cachedCollisionData2
        void** cachedCollisionData1;

        /// Cached collision data of the proxy shape
        // TODO : Check if we can use separating axis in OverlappingPair instead of cachedCollisionData1 and cachedCollisionData2
        void** cachedCollisionData2;

        /// Pointer to the next element in the linked list
        NarrowPhaseInfo* next;

        /// Constructor
        NarrowPhaseInfo(OverlappingPair* pair, const CollisionShape* shape1,
                        const CollisionShape* shape2, const Transform& shape1Transform,
                        const Transform& shape2Transform, void** cachedData1, void** cachedData2);

        /// Destructor
        ~NarrowPhaseInfo();

        /// Add a new contact point
        void addContactPoint(const Vector3& contactNormal, decimal penDepth,
                             const Vector3& localPt1, const Vector3& localPt2);

        /// Create a new potential contact manifold into the overlapping pair using current contact points
        void addContactPointsAsPotentialContactManifold();

        /// Reset the remaining contact points
        void resetContactPoints();
};

}

#endif