reactphysics3d/src/collision/shapes/ConvexShape.h

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2015 Daniel Chappuis                                       *
*********************************************************************************
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#ifndef REACTPHYSICS3D_CONVEX_SHAPE_H
#define REACTPHYSICS3D_CONVEX_SHAPE_H

// Libraries
#include "CollisionShape.h"

/// ReactPhysics3D namespace
namespace reactphysics3d {

// Class ConvexShape
/**
 * This abstract class represents a convex collision shape associated with a
 * body that is used during the narrow-phase collision detection.
 */
class ConvexShape : public CollisionShape {

    protected :

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

        /// Margin used for the GJK collision detection algorithm
        decimal mMargin;

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

        /// Private copy-constructor
        ConvexShape(const ConvexShape& shape);

        /// Private assignment operator
        ConvexShape& operator=(const ConvexShape& shape);

        // Return a local support point in a given direction with the object margin
        Vector3 getLocalSupportPointWithMargin(const Vector3& direction,
                                               void** cachedCollisionData) const;

        /// Return a local support point in a given direction without the object margin
        virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction,
                                                          void** cachedCollisionData) const=0;

        /// Return true if a point is inside the collision shape
        virtual bool testPointInside(const Vector3& worldPoint, ProxyShape* proxyShape) const=0;

    public :

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

        /// Constructor
        ConvexShape(CollisionShapeType type, decimal margin);

        /// Destructor
        virtual ~ConvexShape();

        /// Return the current object margin
        decimal getMargin() const;

        /// Return true if the collision shape is convex, false if it is concave
        virtual bool isConvex() const;

        // -------------------- Friendship -------------------- //

        friend class GJKAlgorithm;
        friend class EPAAlgorithm;
};

/// Return true if the collision shape is convex, false if it is concave
inline bool ConvexShape::isConvex() const {
    return true;
}

// Return the current collision shape margin
/**
 * @return The margin (in meters) around the collision shape
 */
inline decimal ConvexShape::getMargin() const {
    return mMargin;
}

}

#endif