Add ConeShape

git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@427 92aac97c-a6ce-11dd-a772-7fcde58d38e6

src/body/ConeShape.cpp

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src/body/ConeShape.h

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+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2011 Daniel Chappuis                                            *
+*********************************************************************************
+*                                                                               *
+* Permission is hereby granted, free of charge, to any person obtaining a copy  *
+* of this software and associated documentation files (the "Software"), to deal *
+* in the Software without restriction, including without limitation the rights  *
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell     *
+* copies of the Software, and to permit persons to whom the Software is         *
+* furnished to do so, subject to the following conditions:                      *
+*                                                                               *
+* The above copyright notice and this permission notice shall be included in    *
+* all copies or substantial portions of the Software.                           *
+*                                                                               *
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR    *
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,      *
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE   *
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER        *
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN     *
+* THE SOFTWARE.                                                                 *
+********************************************************************************/
+
+#ifndef BOUNDING_CONE_H
+#define BOUNDING_CONE_H
+
+// Libraries
+#include "NarrowBoundingVolume.h"
+#include "../mathematics/mathematics.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class ConeShape :
+        This class represents a cone bounding volume.
+    -------------------------------------------------------------------
+*/
+class ConeShape : public NarrowBoundingVolume {
+    protected :
+        Vector3D center;            // Center point of the sphere
+        double radius;              // Radius of the sphere
+
+    public :
+        ConeShape(const Vector3D& center, double radius);      // Constructor
+        virtual ~ConeShape();                                  // Destructor
+
+        Vector3D getCenter() const;                                                             // Return the center point of the sphere
+        void setCenter(const Vector3D& center);                                                 // Set the center point of the sphere
+        double getRadius() const;                                                               // Return the radius of the sphere
+        void setRadius(double radius);                                                          // Set the radius of the sphere
+        virtual void update(const Vector3D& newCenter,
+                            const Quaternion& rotationQuaternion);                              // Update the sphere orientation according to a new orientation of the rigid body
+        virtual AABB* computeAABB() const;                                                      // Return the corresponding AABB
+        virtual Vector3D getSupportPoint(const Vector3D& direction, double margin=0.0) const;   // Return a support point in a given direction
+
+#ifdef VISUAL_DEBUG
+            virtual void draw() const;                              // Draw the sphere (only for testing purpose)
+#endif
+};
+
+// Return the center point of the sphere
+inline Vector3D BoundingSphere::getCenter() const {
+    return center;
+}
+
+// Set the center point of the sphere
+inline void BoundingSphere::setCenter(const Vector3D& center) {
+    this->center = center;
+}
+
+// Get the radius of the sphere
+inline double BoundingSphere::getRadius() const {
+    return radius;
+}
+
+// Set the radius of the sphere
+inline void BoundingSphere::setRadius(double radius) {
+    this->radius = radius;
+}
+
+// Update the orientation of the shere according to the orientation of the rigid body
+inline void BoundingSphere::update(const Vector3D& newCenter, const Quaternion& rotationQuaternion) {
+    // Update the center of the sphere
+    center = newCenter;
+}
+
+// Return a support point in a given direction
+inline Vector3D BoundingSphere::getSupportPoint(const Vector3D& direction, double margin) const {
+    assert(margin >= 0.0);
+    double length = direction.length();
+
+    // If the direction vector is not the zero vector
+    if (length > EPSILON) {
+        // Return the support point of the sphere in the given direction
+        return center + (radius + margin) * direction.getUnit();
+    }
+
+    // If the direction vector is the zero vector we return a point on the
+    // boundary of the sphere
+    return center + Vector3D(radius + margin, 0.0, 0.0);
+}
+
+}; // End of the ReactPhysics3D namespace
+
+#endif