94 lines
5.5 KiB
C
94 lines
5.5 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_WORLD_H
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#define COLLISION_WORLD_H
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// Libraries
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#include <vector>
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#include <set>
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#include <algorithm>
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#include "../mathematics/mathematics.h"
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#include "../body/CollisionBody.h"
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#include "OverlappingPair.h"
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#include "../collision/CollisionDetection.h"
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#include "../constraint/Constraint.h"
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#include "../constraint/Contact.h"
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#include "../memory/MemoryPool.h"
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// Namespace reactphysics3d
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class CollisionWorld :
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This class represent a world where it is possible to move bodies
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by hand and to test collision between each other. In this kind of
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world, the bodies movement is not computed using the laws of physics.
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-------------------------------------------------------------------
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*/
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class CollisionWorld {
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protected :
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CollisionDetection collisionDetection; // Reference to the collision detection
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std::set<CollisionBody*> bodies; // All the bodies (rigid and soft) of the physics world
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std::map<std::pair<bodyindex, bodyindex>, OverlappingPair*> overlappingPairs; // Broad-phase overlapping pairs of bodies
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bodyindex currentBodyID; // Current body ID
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MemoryPool<CollisionBody> memoryPoolCollisionBodies; // Memory pool for rigid bodies memory allocation
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std::vector<luint> freeBodiesIDs; // List of free ID for rigid bodies
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virtual void notifyAddedOverlappingPair(const BroadPhasePair* addedPair); // Notify the world about a new broad-phase overlapping pair
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virtual void notifyRemovedOverlappingPair(const BroadPhasePair* removedPair); // Notify the world about a removed broad-phase overlapping pair
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virtual void notifyNewContact(const BroadPhasePair* pair, const ContactInfo* contactInfo); // Notify the world about a new narrow-phase contact
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virtual void updateOverlappingPair(const BroadPhasePair* pair); // Update the overlapping pair
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bodyindex computeNextAvailableBodyID(); // Return the next available body ID
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public :
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CollisionWorld(); // Constructor
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virtual ~CollisionWorld(); // Destructor
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std::set<CollisionBody*>::iterator getBodiesBeginIterator(); // Return an iterator to the beginning of the bodies of the physics world
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std::set<CollisionBody*>::iterator getBodiesEndIterator(); // Return an iterator to the end of the bodies of the physics world
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CollisionBody* createCollisionBody(const Transform& transform,
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CollisionShape* collisionShape); // Create a collision body
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void destroyCollisionBody(CollisionBody* collisionBody); // Destroy a collision body
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// Friends
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friend class CollisionDetection;
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};
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// Return an iterator to the beginning of the bodies of the physics world
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inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesBeginIterator() {
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return bodies.begin();
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}
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// Return an iterator to the end of the bodies of the physics world
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inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesEndIterator() {
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return bodies.end();
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}
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} // End of the ReactPhysics3D namespace
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#endif
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