Create SphereVsSphereNarrowPhaseInfoBatch class
This commit is contained in:
Daniel Chappuis
parent
5e57ea896a
commit
6413d479ad
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@ -94,8 +94,9 @@ SET (REACTPHYSICS3D_HEADERS
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"src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h"
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"src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h"
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"src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h"
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"src/collision/narrowphase/SphereVsSphereNarrowPhaseInputBatch.h"
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"src/collision/narrowphase/NarrowPhaseInput.h"
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"src/collision/narrowphase/NarrowPhaseInfoBatch.h"
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"src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h"
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"src/collision/shapes/AABB.h"
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"src/collision/shapes/ConvexShape.h"
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"src/collision/shapes/ConvexPolyhedronShape.h"
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@ -116,7 +117,6 @@ SET (REACTPHYSICS3D_HEADERS
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"src/collision/PolyhedronMesh.h"
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"src/collision/HalfEdgeStructure.h"
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"src/collision/CollisionDetection.h"
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"src/collision/NarrowPhaseInfoBatch.h"
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"src/collision/ContactManifold.h"
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"src/collision/ContactManifoldSet.h"
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"src/collision/MiddlePhaseTriangleCallback.h"
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@ -179,8 +179,9 @@ SET (REACTPHYSICS3D_SOURCES
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"src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp"
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"src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp"
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"src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp"
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"src/collision/narrowphase/SphereVsSphereNarrowPhaseInputBatch.cpp"
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"src/collision/narrowphase/NarrowPhaseInput.cpp"
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"src/collision/narrowphase/NarrowPhaseInfoBatch.cpp"
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"src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp"
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"src/collision/shapes/AABB.cpp"
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"src/collision/shapes/ConvexShape.cpp"
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"src/collision/shapes/ConvexPolyhedronShape.cpp"
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@ -201,7 +202,6 @@ SET (REACTPHYSICS3D_SOURCES
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"src/collision/PolyhedronMesh.cpp"
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"src/collision/HalfEdgeStructure.cpp"
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"src/collision/CollisionDetection.cpp"
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"src/collision/NarrowPhaseInfoBatch.cpp"
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"src/collision/ContactManifold.cpp"
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"src/collision/ContactManifoldSet.cpp"
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"src/collision/MiddlePhaseTriangleCallback.cpp"
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@ -35,7 +35,7 @@
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#include "collision/CollisionCallback.h"
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#include "collision/MiddlePhaseTriangleCallback.h"
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#include "collision/OverlapCallback.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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#include "collision/ContactManifold.h"
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#include "utils/Profiler.h"
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#include "engine/EventListener.h"
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@ -252,7 +252,7 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI
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ConvexPolyhedronVsConvexPolyhedronAlgorithm* convexPolyVsConvexPolyAlgo = mCollisionDispatch.getConvexPolyhedronVsConvexPolyhedronAlgorithm();
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// get the narrow-phase batches to test for collision
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NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch();
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SphereVsSphereNarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch();
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NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch();
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NarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch();
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NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch();
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@ -25,7 +25,7 @@
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// Libraries
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#include "ContactManifoldSet.h"
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#include "NarrowPhaseInfoBatch.h"
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#include "narrowphase/NarrowPhaseInfoBatch.h"
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#include "constraint/ContactPoint.h"
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#include "ProxyShape.h"
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#include "collision/ContactManifold.h"
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@ -26,7 +26,7 @@
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// Libraries
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#include "CapsuleVsCapsuleAlgorithm.h"
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#include "collision/shapes/CapsuleShape.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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@ -29,7 +29,7 @@
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#include "GJK/GJKAlgorithm.h"
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#include "collision/shapes/CapsuleShape.h"
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#include "collision/shapes/ConvexPolyhedronShape.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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#include "collision/ContactPointInfo.h"
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#include <cassert>
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@ -27,7 +27,7 @@
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#include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h"
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#include "GJK/GJKAlgorithm.h"
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#include "SAT/SATAlgorithm.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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@ -31,7 +31,7 @@
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#include "configuration.h"
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#include "utils/Profiler.h"
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#include "containers/List.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/GJK/VoronoiSimplex.h"
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#include <cassert>
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@ -25,7 +25,7 @@
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// Libraries
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#include "NarrowPhaseInfoBatch.h"
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#include "ContactPointInfo.h"
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#include "collision/ContactPointInfo.h"
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#include "collision/shapes/TriangleShape.h"
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#include "engine/OverlappingPair.h"
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@ -125,11 +125,12 @@ void NarrowPhaseInfoBatch::clear() {
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// Release the memory of the TriangleShape (this memory was allocated in the
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// MiddlePhaseTriangleCallback::testTriangle() method)
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if (collisionShapes1[i]->getName() == CollisionShapeName::TRIANGLE) {
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// TODO DOD : Try to move this code
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if (collisionShapes1.size() > 0 && collisionShapes1[i]->getName() == CollisionShapeName::TRIANGLE) {
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collisionShapes1[i]->~CollisionShape();
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collisionShapeAllocators[i]->release(collisionShapes1[i], sizeof(TriangleShape));
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}
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if (collisionShapes2[i]->getName() == CollisionShapeName::TRIANGLE) {
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if (collisionShapes2.size() > 0 && collisionShapes2[i]->getName() == CollisionShapeName::TRIANGLE) {
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collisionShapes2[i]->~CollisionShape();
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collisionShapeAllocators[i]->release(collisionShapes2[i], sizeof(TriangleShape));
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}
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@ -47,7 +47,7 @@ struct ContactPointInfo;
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*/
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struct NarrowPhaseInfoBatch {
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private:
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protected:
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/// Memory allocator
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MemoryAllocator& mMemoryAllocator;
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@ -57,6 +57,8 @@ struct NarrowPhaseInfoBatch {
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public:
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// TODO DOD : Try to remove most of the following lists
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/// List of Broadphase overlapping pairs
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List<OverlappingPair*> overlappingPairs;
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@ -88,12 +90,13 @@ struct NarrowPhaseInfoBatch {
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NarrowPhaseInfoBatch(MemoryAllocator& allocator);
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/// Destructor
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~NarrowPhaseInfoBatch();
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virtual ~NarrowPhaseInfoBatch();
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/// Return the number of objects in the batch
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uint getNbObjects() const;
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/// Add shapes to be tested during narrow-phase collision detection into the batch
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// TODO DOD : Remove this method (only use the one in specialized classed)
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void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
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CollisionShape* shape2, const Transform& shape1Transform,
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const Transform& shape2Transform, MemoryAllocator& shapeAllocator);
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@ -109,7 +112,7 @@ struct NarrowPhaseInfoBatch {
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void reserveMemory();
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/// Clear all the objects in the batch
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void clear();
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virtual void clear();
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};
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/// Return the number of objects in the batch
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@ -44,7 +44,7 @@ void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape*
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switch (narrowPhaseAlgorithmType) {
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case NarrowPhaseAlgorithmType::SphereVsSphere:
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mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform);
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break;
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case NarrowPhaseAlgorithmType::SphereVsCapsule:
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mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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@ -28,7 +28,8 @@
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// Libraries
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#include "containers/List.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h"
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/// Namespace ReactPhysics3D
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namespace reactphysics3d {
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@ -52,7 +53,7 @@ class NarrowPhaseInput {
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private:
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NarrowPhaseInfoBatch mSphereVsSphereBatch;
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SphereVsSphereNarrowPhaseInfoBatch mSphereVsSphereBatch;
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NarrowPhaseInfoBatch mSphereVsCapsuleBatch;
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NarrowPhaseInfoBatch mCapsuleVsCapsuleBatch;
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NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch;
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@ -70,7 +71,7 @@ class NarrowPhaseInput {
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MemoryAllocator& shapeAllocator);
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/// Get a reference to the sphere vs sphere batch
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NarrowPhaseInfoBatch& getSphereVsSphereBatch();
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SphereVsSphereNarrowPhaseInfoBatch& getSphereVsSphereBatch();
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/// Get a reference to the sphere vs capsule batch
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NarrowPhaseInfoBatch& getSphereVsCapsuleBatch();
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@ -96,7 +97,7 @@ class NarrowPhaseInput {
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// Get a reference to the sphere vs sphere batch
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inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() {
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inline SphereVsSphereNarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() {
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return mSphereVsSphereBatch;
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}
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@ -30,7 +30,7 @@
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#include "collision/shapes/CapsuleShape.h"
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#include "collision/shapes/SphereShape.h"
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#include "engine/OverlappingPair.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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#include "collision/shapes/TriangleShape.h"
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#include "configuration.h"
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#include "utils/Profiler.h"
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@ -27,7 +27,7 @@
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#include "SphereVsCapsuleAlgorithm.h"
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#include "collision/shapes/SphereShape.h"
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#include "collision/shapes/CapsuleShape.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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@ -27,7 +27,7 @@
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#include "SphereVsConvexPolyhedronAlgorithm.h"
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#include "GJK/GJKAlgorithm.h"
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#include "SAT/SATAlgorithm.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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@ -26,12 +26,12 @@
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// Libraries
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#include "SphereVsSphereAlgorithm.h"
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#include "collision/shapes/SphereShape.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems,
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bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems,
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bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) {
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bool isCollisionFound = false;
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@ -42,32 +42,29 @@ bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf
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assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0);
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assert(!narrowPhaseInfoBatch.isColliding[batchIndex]);
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assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE);
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assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE);
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// Get the sphere collision shapes
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const SphereShape* sphereShape1 = static_cast<const SphereShape*>(narrowPhaseInfoBatch.collisionShapes1[batchIndex]);
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const SphereShape* sphereShape2 = static_cast<const SphereShape*>(narrowPhaseInfoBatch.collisionShapes2[batchIndex]);
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// Get the local-space to world-space transforms
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const Transform& transform1 = narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex];
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const Transform& transform2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex];
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const Transform& transform1 = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex];
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const Transform& transform2 = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex];
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// Compute the distance between the centers
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Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition();
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decimal squaredDistanceBetweenCenters = vectorBetweenCenters.lengthSquare();
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// Compute the sum of the radius
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decimal sumRadius = sphereShape1->getRadius() + sphereShape2->getRadius();
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decimal sumRadiuses = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] + narrowPhaseInfoBatch.sphere2Radiuses[batchIndex];
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// Compute the product of the sum of the radius
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decimal sumRadiusesProducts = sumRadiuses * sumRadiuses;
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// If the sphere collision shapes intersect
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if (squaredDistanceBetweenCenters < sumRadius * sumRadius) {
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if (squaredDistanceBetweenCenters < sumRadiusesProducts) {
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if (reportContacts) {
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Vector3 centerSphere2InBody1LocalSpace = transform1.getInverse() * transform2.getPosition();
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Vector3 centerSphere1InBody2LocalSpace = transform2.getInverse() * transform1.getPosition();
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decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters);
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Transform transform1Inverse = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getInverse();
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Transform transform2Inverse = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getInverse();
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decimal penetrationDepth = sumRadiuses - std::sqrt(squaredDistanceBetweenCenters);
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Vector3 intersectionOnBody1;
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Vector3 intersectionOnBody2;
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Vector3 normal;
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@ -75,8 +72,11 @@ bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf
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// If the two sphere centers are not at the same position
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if (squaredDistanceBetweenCenters > MACHINE_EPSILON) {
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intersectionOnBody1 = sphereShape1->getRadius() * centerSphere2InBody1LocalSpace.getUnit();
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intersectionOnBody2 = sphereShape2->getRadius() * centerSphere1InBody2LocalSpace.getUnit();
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Vector3 centerSphere2InBody1LocalSpace = transform1Inverse * narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getPosition();
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Vector3 centerSphere1InBody2LocalSpace = transform2Inverse * narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getPosition();
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intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * centerSphere2InBody1LocalSpace.getUnit();
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intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * centerSphere1InBody2LocalSpace.getUnit();
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normal = vectorBetweenCenters.getUnit();
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}
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else { // If the sphere centers are at the same position (degenerate case)
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@ -84,8 +84,8 @@ bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf
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// Take any contact normal direction
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normal.setAllValues(0, 1, 0);
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intersectionOnBody1 = sphereShape1->getRadius() * (transform1.getInverse().getOrientation() * normal);
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intersectionOnBody2 = sphereShape2->getRadius() * (transform2.getInverse().getOrientation() * normal);
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intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * (transform1Inverse.getOrientation() * normal);
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intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * (transform2Inverse.getOrientation() * normal);
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}
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// Create the contact info object
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@ -34,6 +34,7 @@ namespace reactphysics3d {
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// Declarations
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class ContactPoint;
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struct SphereVsSphereNarrowPhaseInfoBatch;
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class Body;
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// Class SphereVsSphereAlgorithm
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@ -65,7 +66,7 @@ class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm {
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SphereVsSphereAlgorithm& operator=(const SphereVsSphereAlgorithm& algorithm) = delete;
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/// Compute a contact info if the two bounding volume collide
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bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex,
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bool testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex,
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uint batchNbItems, bool reportContacts, bool stopFirstContactFound,
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MemoryAllocator& memoryAllocator);
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};
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@ -0,0 +1,88 @@
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2018 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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* *
|
||||
* 3. This notice may not be removed or altered from any source distribution. *
|
||||
* *
|
||||
********************************************************************************/
|
||||
|
||||
// Libraries
|
||||
#include "SphereVsSphereNarrowPhaseInfoBatch.h"
|
||||
#include "collision/shapes/SphereShape.h"
|
||||
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator)
|
||||
: NarrowPhaseInfoBatch(allocator), sphere1Radiuses(allocator), sphere2Radiuses(allocator),
|
||||
sphere1WorldTransforms(allocator), sphere2WorldTransforms(allocator) {
|
||||
|
||||
}
|
||||
|
||||
// Add shapes to be tested during narrow-phase collision detection into the batch
|
||||
void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2,
|
||||
const Transform& shape1Transform, const Transform& shape2Transform) {
|
||||
|
||||
assert(shape1->getType() == CollisionShapeType::SPHERE);
|
||||
assert(shape2->getType() == CollisionShapeType::SPHERE);
|
||||
|
||||
const SphereShape* sphere1 = static_cast<const SphereShape*>(shape1);
|
||||
const SphereShape* sphere2 = static_cast<const SphereShape*>(shape2);
|
||||
|
||||
sphere1Radiuses.add(sphere1->getRadius());
|
||||
sphere2Radiuses.add(sphere2->getRadius());
|
||||
sphere1WorldTransforms.add(shape1Transform);
|
||||
sphere2WorldTransforms.add(shape2Transform);
|
||||
overlappingPairs.add(pair);
|
||||
contactPoints.add(List<ContactPointInfo*>(mMemoryAllocator));
|
||||
isColliding.add(false);
|
||||
|
||||
// Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
|
||||
LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
|
||||
lastFrameCollisionInfos.add(lastFrameInfo);
|
||||
}
|
||||
|
||||
// Initialize the containers using cached capacity
|
||||
void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() {
|
||||
|
||||
NarrowPhaseInfoBatch::reserveMemory();
|
||||
|
||||
sphere1Radiuses.reserve(mCachedCapacity);
|
||||
sphere2Radiuses.reserve(mCachedCapacity);
|
||||
sphere1WorldTransforms.reserve(mCachedCapacity);
|
||||
sphere2WorldTransforms.reserve(mCachedCapacity);
|
||||
}
|
||||
|
||||
// Clear all the objects in the batch
|
||||
void SphereVsSphereNarrowPhaseInfoBatch::clear() {
|
||||
|
||||
NarrowPhaseInfoBatch::clear();
|
||||
|
||||
// Note that we clear the following containers and we release their allocated memory. Therefore,
|
||||
// if the memory allocator is a single frame allocator, the memory is deallocated and will be
|
||||
// allocated in the next frame at a possibly different location in memory (remember that the
|
||||
// location of the allocated memory of a single frame allocator might change between two frames)
|
||||
|
||||
sphere1Radiuses.clear(true);
|
||||
sphere2Radiuses.clear(true);
|
||||
sphere1WorldTransforms.clear(true);
|
||||
sphere2WorldTransforms.clear(true);
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,78 @@
|
|||
/********************************************************************************
|
||||
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
||||
* Copyright (c) 2010-2018 Daniel Chappuis *
|
||||
*********************************************************************************
|
||||
* *
|
||||
* This software is provided 'as-is', without any express or implied warranty. *
|
||||
* In no event will the authors be held liable for any damages arising from the *
|
||||
* use of this software. *
|
||||
* *
|
||||
* Permission is granted to anyone to use this software for any purpose, *
|
||||
* including commercial applications, and to alter it and redistribute it *
|
||||
* freely, subject to the following restrictions: *
|
||||
* *
|
||||
* 1. The origin of this software must not be misrepresented; you must not claim *
|
||||
* that you wrote the original software. If you use this software in a *
|
||||
* product, an acknowledgment in the product documentation would be *
|
||||
* appreciated but is not required. *
|
||||
* *
|
||||
* 2. Altered source versions must be plainly marked as such, and must not be *
|
||||
* misrepresented as being the original software. *
|
||||
* *
|
||||
* 3. This notice may not be removed or altered from any source distribution. *
|
||||
* *
|
||||
********************************************************************************/
|
||||
|
||||
#ifndef REACTPHYSICS3D_SPHERE_VS_SPHERE_NARROW_PHASE_INFO_BATCH_H
|
||||
#define REACTPHYSICS3D_SPHERE_VS_SPHERE_NARROW_PHASE_INFO_BATCH_H
|
||||
|
||||
// Libraries
|
||||
#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
|
||||
|
||||
/// Namespace ReactPhysics3D
|
||||
namespace reactphysics3d {
|
||||
|
||||
// Struct SphereVsSphereNarrowPhaseInfoBatch
|
||||
/**
|
||||
* This structure collects all the potential collisions from the middle-phase algorithm
|
||||
* that have to be tested during narrow-phase collision detection. This class collects all the
|
||||
* sphere vs sphere collision detection tests.
|
||||
*/
|
||||
struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch {
|
||||
|
||||
public:
|
||||
|
||||
/// List of radiuses for the first spheres
|
||||
List<decimal> sphere1Radiuses;
|
||||
|
||||
/// List of radiuses for the second spheres
|
||||
List<decimal> sphere2Radiuses;
|
||||
|
||||
/// List of the world-space positions for the center of the first spheres
|
||||
List<Transform> sphere1WorldTransforms;
|
||||
|
||||
/// List of the world-space positions for the center of the second spheres
|
||||
List<Transform> sphere2WorldTransforms;
|
||||
|
||||
/// Constructor
|
||||
SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator);
|
||||
|
||||
/// Destructor
|
||||
virtual ~SphereVsSphereNarrowPhaseInfoBatch() = default;
|
||||
|
||||
/// Add shapes to be tested during narrow-phase collision detection into the batch
|
||||
virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
|
||||
CollisionShape* shape2, const Transform& shape1Transform,
|
||||
const Transform& shape2Transform);
|
||||
|
||||
// Initialize the containers using cached capacity
|
||||
void reserveMemory();
|
||||
|
||||
/// Clear all the objects in the batch
|
||||
virtual void clear();
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
Loading…
Reference in New Issue
Block a user