186 lines
8.3 KiB
C
186 lines
8.3 KiB
C
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/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 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 COLLISION_BODY_H
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#define COLLISION_BODY_H
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// Libraries
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#include <stdexcept>
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#include <cassert>
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#include "Body.h"
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#include "../mathematics/Transform.h"
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#include "../collision/shapes/AABB.h"
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#include "../collision/shapes/CollisionShape.h"
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#include "../configuration.h"
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// Namespace reactphysics3d
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class CollisionBody :
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This class represents a body that is able to collide with others
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bodies. This class inherits from the Body class.
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-------------------------------------------------------------------
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*/
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class CollisionBody : public Body {
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protected :
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CollisionShape* collisionShape; // Collision shape of the body
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Transform transform; // Position and orientation of the body
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Transform oldTransform; // Last position and orientation of the body
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decimal interpolationFactor; // Interpolation factor used for the state interpolation
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bool isActive; // True if the body is active (not sleeping because of deactivation)
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bool isMotionEnabled; // True if the body is able to move
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bool isCollisionEnabled; // True if the body can collide with others bodies
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AABB* aabb; // Axis-Aligned Bounding Box for Broad-Phase collision detection
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bool hasMoved; // True if the body has moved during the last frame
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public :
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CollisionBody(const Transform& transform, CollisionShape* collisionShape, bodyindex id); // Constructor
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virtual ~CollisionBody(); // Destructor
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bool getHasMoved() const; // Return true if the body has moved during the last frame
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void setHasMoved(bool hasMoved); // Set the hasMoved variable (true if the body has moved during the last frame)
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CollisionShape* getCollisionShape() const; // Return the collision shape
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void setCollisionShape(CollisionShape* collisionShape); // Set the collision shape
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bool getIsActive() const; // Return true if the body is active
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void setIsActive(bool isActive); // Set the isActive variable
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const Transform& getTransform() const; // Return the current position and orientation
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void setTransform(const Transform& transform); // Set the current position and orientation
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const AABB* getAABB() const; // Return the AAABB of the body
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Transform getInterpolatedTransform() const; // Return the interpolated transform for rendering
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void setInterpolationFactor(decimal factor); // Set the interpolation factor of the body
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bool getIsMotionEnabled() const; // Return if the rigid body can move
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void setIsMotionEnabled(bool isMotionEnabled); // Set the value to true if the body can move
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bool getIsCollisionEnabled() const; // Return true if the body can collide with others bodies
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void setIsCollisionEnabled(bool isCollisionEnabled); // Set the isCollisionEnabled value
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void updateOldTransform(); // Update the old transform with the current one
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void updateAABB(); // Update the Axis-Aligned Bounding Box coordinates
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};
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// Return true if the body has moved during the last frame
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inline bool CollisionBody::getHasMoved() const {
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return hasMoved;
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}
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// Set the hasMoved variable (true if the body has moved during the last frame)
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inline void CollisionBody::setHasMoved(bool hasMoved) {
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this->hasMoved = hasMoved;
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}
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// Return the collision shape
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inline CollisionShape* CollisionBody::getCollisionShape() const {
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assert(collisionShape);
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return collisionShape;
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}
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// Set the collision shape
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inline void CollisionBody::setCollisionShape(CollisionShape* collisionShape) {
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assert(collisionShape);
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this->collisionShape = collisionShape;
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}
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// Return true if the body is active
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inline bool CollisionBody::getIsActive() const {
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return isActive;
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}
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// Set the isActive variable
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inline void CollisionBody::setIsActive(bool isActive) {
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this->isActive = isActive;
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}
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// Return the interpolated transform for rendering
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inline Transform CollisionBody::getInterpolatedTransform() const {
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return Transform::interpolateTransforms(oldTransform, transform, interpolationFactor);
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}
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// Set the interpolation factor of the body
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inline void CollisionBody::setInterpolationFactor(decimal factor) {
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// Set the factor
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interpolationFactor = factor;
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}
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// Return if the rigid body can move
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inline bool CollisionBody::getIsMotionEnabled() const {
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return isMotionEnabled;
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}
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// Set the value to true if the body can move
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inline void CollisionBody::setIsMotionEnabled(bool isMotionEnabled) {
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this->isMotionEnabled = isMotionEnabled;
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}
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// Return the current position and orientation
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inline const Transform& CollisionBody::getTransform() const {
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return transform;
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}
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// Set the current position and orientation
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inline void CollisionBody::setTransform(const Transform& transform) {
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// Check if the body has moved
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if (this->transform != transform) {
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hasMoved = true;
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}
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this->transform = transform;
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}
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// Return the AAABB of the body
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inline const AABB* CollisionBody::getAABB() const {
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return aabb;
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}
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// Return true if the body can collide with others bodies
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inline bool CollisionBody::getIsCollisionEnabled() const {
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return isCollisionEnabled;
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}
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// Set the isCollisionEnabled value
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inline void CollisionBody::setIsCollisionEnabled(bool isCollisionEnabled) {
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this->isCollisionEnabled = isCollisionEnabled;
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}
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// Update the old transform with the current one
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// This is used to compute the interpolated position and orientation of the body
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inline void CollisionBody::updateOldTransform() {
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oldTransform = transform;
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}
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// Update the rigid body in order to reflect a change in the body state
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inline void CollisionBody::updateAABB() {
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// TODO : An AABB should not be updated every frame but only if the body has moved
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// Update the AABB
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aabb->update(transform, collisionShape->getLocalExtents(OBJECT_MARGIN));
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}
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}
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#endif
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