187 lines
7.6 KiB
C++
187 lines
7.6 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
|
* Copyright (c) 2010-2016 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_CAPSULE_SHAPE_H
|
|
#define REACTPHYSICS3D_CAPSULE_SHAPE_H
|
|
|
|
// Libraries
|
|
#include "ConvexShape.h"
|
|
#include "body/CollisionBody.h"
|
|
#include "mathematics/mathematics.h"
|
|
|
|
// ReactPhysics3D namespace
|
|
namespace reactphysics3d {
|
|
|
|
// Class CapsuleShape
|
|
/**
|
|
* This class represents a capsule collision shape that is defined around the Y axis.
|
|
* A capsule shape can be seen as the convex hull of two spheres.
|
|
* The capsule shape is defined by its radius (radius of the two spheres of the capsule)
|
|
* and its height (distance between the centers of the two spheres). This collision shape
|
|
* does not have an explicit object margin distance. The margin is implicitly the radius
|
|
* and height of the shape. Therefore, no need to specify an object margin for a
|
|
* capsule shape.
|
|
*/
|
|
class CapsuleShape : public ConvexShape {
|
|
|
|
protected :
|
|
|
|
// -------------------- Attributes -------------------- //
|
|
|
|
/// Half height of the capsule (height = distance between the centers of the two spheres)
|
|
decimal mHalfHeight;
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
/// Return a local support point in a given direction without the object margin
|
|
virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override;
|
|
|
|
/// Return true if a point is inside the collision shape
|
|
virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override;
|
|
|
|
/// Raycast method with feedback information
|
|
virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override;
|
|
|
|
/// Raycasting method between a ray one of the two spheres end cap of the capsule
|
|
bool raycastWithSphereEndCap(const Vector3& point1, const Vector3& point2,
|
|
const Vector3& sphereCenter, decimal maxFraction,
|
|
Vector3& hitLocalPoint, decimal& hitFraction) const;
|
|
|
|
/// Return the number of bytes used by the collision shape
|
|
virtual size_t getSizeInBytes() const override;
|
|
|
|
public :
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
/// Constructor
|
|
CapsuleShape(decimal radius, decimal height);
|
|
|
|
/// Destructor
|
|
virtual ~CapsuleShape() override = default;
|
|
|
|
/// Deleted copy-constructor
|
|
CapsuleShape(const CapsuleShape& shape) = delete;
|
|
|
|
/// Deleted assignment operator
|
|
CapsuleShape& operator=(const CapsuleShape& shape) = delete;
|
|
|
|
/// Return the radius of the capsule
|
|
decimal getRadius() const;
|
|
|
|
/// Return the height of the capsule
|
|
decimal getHeight() const;
|
|
|
|
/// Return the local bounds of the shape in x, y and z directions
|
|
virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
|
|
|
|
/// Return true if the collision shape is a polyhedron
|
|
virtual bool isPolyhedron() const override;
|
|
|
|
/// Return the local inertia tensor of the collision shape
|
|
virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;
|
|
|
|
/// Return the string representation of the shape
|
|
virtual std::string to_string() const override;
|
|
};
|
|
|
|
// Get the radius of the capsule
|
|
/**
|
|
* @return The radius of the capsule shape (in meters)
|
|
*/
|
|
inline decimal CapsuleShape::getRadius() const {
|
|
return mMargin;
|
|
}
|
|
|
|
// Return the height of the capsule
|
|
/**
|
|
* @return The height of the capsule shape (in meters)
|
|
*/
|
|
inline decimal CapsuleShape::getHeight() const {
|
|
return mHalfHeight + mHalfHeight;
|
|
}
|
|
|
|
// Return the number of bytes used by the collision shape
|
|
inline size_t CapsuleShape::getSizeInBytes() const {
|
|
return sizeof(CapsuleShape);
|
|
}
|
|
|
|
// Return the local bounds of the shape in x, y and z directions
|
|
// This method is used to compute the AABB of the box
|
|
/**
|
|
* @param min The minimum bounds of the shape in local-space coordinates
|
|
* @param max The maximum bounds of the shape in local-space coordinates
|
|
*/
|
|
inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const {
|
|
|
|
// Maximum bounds
|
|
max.x = mMargin;
|
|
max.y = mHalfHeight + mMargin;
|
|
max.z = mMargin;
|
|
|
|
// Minimum bounds
|
|
min.x = -mMargin;
|
|
min.y = -max.y;
|
|
min.z = min.x;
|
|
}
|
|
|
|
// Return true if the collision shape is a polyhedron
|
|
inline bool CapsuleShape::isPolyhedron() const {
|
|
return false;
|
|
}
|
|
|
|
// Return a local support point in a given direction without the object margin.
|
|
/// A capsule is the convex hull of two spheres S1 and S2. The support point in the direction "d"
|
|
/// of the convex hull of a set of convex objects is the support point "p" in the set of all
|
|
/// support points from all the convex objects with the maximum dot product with the direction "d".
|
|
/// Therefore, in this method, we compute the support points of both top and bottom spheres of
|
|
/// the capsule and return the point with the maximum dot product with the direction vector. Note
|
|
/// that the object margin is implicitly the radius and height of the capsule.
|
|
inline Vector3 CapsuleShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const {
|
|
|
|
// Support point top sphere
|
|
decimal dotProductTop = mHalfHeight * direction.y;
|
|
|
|
// Support point bottom sphere
|
|
decimal dotProductBottom = -mHalfHeight * direction.y;
|
|
|
|
// Return the point with the maximum dot product
|
|
if (dotProductTop > dotProductBottom) {
|
|
return Vector3(0, mHalfHeight, 0);
|
|
}
|
|
else {
|
|
return Vector3(0, -mHalfHeight, 0);
|
|
}
|
|
}
|
|
|
|
// Return the string representation of the shape
|
|
inline std::string CapsuleShape::to_string() const {
|
|
return "CapsuleShape{halfHeight=" + std::to_string(mHalfHeight) + ", radius=" + std::to_string(getRadius()) + "}";
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|