108 lines
6.3 KiB
C++
108 lines
6.3 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 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 REACTPHYSICS3D_SAT_ALGORITHM_H
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#define REACTPHYSICS3D_SAT_ALGORITHM_H
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// Libraries
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#include "collision/ContactManifoldInfo.h"
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#include "collision/NarrowPhaseInfo.h"
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#include "collision/shapes/ConvexPolyhedronShape.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class SATAlgorithm
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class SATAlgorithm {
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private :
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// -------------------- Attributes -------------------- //
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// -------------------- Methods -------------------- //
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/// Return true if two edges of two polyhedrons build a minkowski face (and can therefore be a separating axis)
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bool testEdgesBuildMinkowskiFace(const ConvexPolyhedronShape* polyhedron1, const HalfEdgeStructure::Edge& edge1,
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const ConvexPolyhedronShape* polyhedron2, const HalfEdgeStructure::Edge& edge2,
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const Transform& polyhedron1ToPolyhedron2) const;
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/// Return true if the arcs AB and CD on the Gauss Map intersect
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bool testGaussMapArcsIntersect(const Vector3& a, const Vector3& b,
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const Vector3& c, const Vector3& d,
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const Vector3& bCrossA, const Vector3& dCrossC) const;
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// Find and return the index of the polyhedron face with the most anti-parallel face normal given a direction vector
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uint findMostAntiParallelFaceOnPolyhedron(const ConvexPolyhedronShape* polyhedron, const Vector3& direction) const;
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/// Compute and return the distance between the two edges in the direction of the candidate separating axis
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decimal computeDistanceBetweenEdges(const Vector3& edge1A, const Vector3& edge2A, const Vector3& polyhedron2Centroid,
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const Vector3& edge1Direction, const Vector3& edge2Direction,
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Vector3& outSeparatingAxis) const;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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SATAlgorithm() = default;
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/// Destructor
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~SATAlgorithm() = default;
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/// Deleted copy-constructor
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SATAlgorithm(const SATAlgorithm& algorithm) = delete;
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/// Deleted assignment operator
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SATAlgorithm& operator=(const SATAlgorithm& algorithm) = delete;
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/// Test collision between a sphere and a convex mesh
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bool testCollisionSphereVsConvexPolyhedron(const NarrowPhaseInfo* narrowPhaseInfo, ContactManifoldInfo& contactManifoldInfo) const;
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/// Test collision between a capsule and a convex mesh
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bool testCollisionCapsuleVsConvexPolyhedron(const NarrowPhaseInfo* narrowPhaseInfo, ContactManifoldInfo& contactManifoldInfo) const;
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/// Compute the two contact points between a polyhedron and a capsule when the separating axis is a face normal of the polyhedron
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void computeCapsulePolyhedronFaceContactPoints(uint referenceFaceIndex, decimal capsuleRadius, const ConvexPolyhedronShape* polyhedron,
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decimal penetrationDepth, const Transform& polyhedronToCapsuleTransform,
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const Vector3& normalWorld, const Vector3& separatingAxisCapsuleSpace,
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const Vector3& capsuleSegAPolyhedronSpace, const Vector3& capsuleSegBPolyhedronSpace,
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ContactManifoldInfo& contactManifoldInfo, bool isCapsuleShape1) const;
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// This method returns true if an edge of a polyhedron and a capsule forms a face of the Minkowski Difference
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bool isMinkowskiFaceCapsuleVsEdge(const Vector3& capsuleSegment, const Vector3& edgeAdjacentFace1Normal,
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const Vector3& edgeAdjacentFace2Normal) const;
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/// Test collision between two convex meshes
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bool testCollisionConvexPolyhedronVsConvexPolyhedron(const NarrowPhaseInfo* narrowPhaseInfo, ContactManifoldInfo& contactManifoldInfo) const;
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/// Test all the normals of a polyhedron for separating axis in the polyhedron vs polyhedron case
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decimal testFaceDirectionPolyhedronVsPolyhedron(const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2,
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const Transform& polyhedron1ToPolyhedron2, uint& minFaceIndex) const;
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};
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}
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#endif
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