262 lines
9.8 KiB
C++
262 lines
9.8 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_BOX_SHAPE_H
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#define REACTPHYSICS3D_BOX_SHAPE_H
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// Libraries
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#include <cfloat>
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#include "ConvexPolyhedronShape.h"
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#include "body/CollisionBody.h"
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#include "mathematics/mathematics.h"
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#include "memory/DefaultAllocator.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class BoxShape
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/**
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* This class represents a 3D box shape. Those axis are unit length.
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* The three extents are half-widths of the box along the three
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* axis x, y, z local axis. The "transform" of the corresponding
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* body will give an orientation and a position to the box.
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*/
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class BoxShape : public ConvexPolyhedronShape {
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protected :
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// -------------------- Attributes -------------------- //
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/// Extent sizes of the box in the x, y and z direction
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Vector3 mExtent;
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/// Half-edge structure of the polyhedron
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HalfEdgeStructure mHalfEdgeStructure;
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// -------------------- Methods -------------------- //
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/// Return a local support point in a given direction without the object margin
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virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override;
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/// Return true if a point is inside the collision shape
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virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override;
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/// Raycast method with feedback information
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virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override;
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/// Return the number of bytes used by the collision shape
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virtual size_t getSizeInBytes() const override;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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BoxShape(const Vector3& extent);
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/// Destructor
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virtual ~BoxShape() override = default;
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/// Deleted copy-constructor
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BoxShape(const BoxShape& shape) = delete;
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/// Deleted assignment operator
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BoxShape& operator=(const BoxShape& shape) = delete;
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/// Return the extents of the box
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Vector3 getExtent() const;
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/// Set the scaling vector of the collision shape
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virtual void setLocalScaling(const Vector3& scaling) override;
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/// Return the local bounds of the shape in x, y and z directions
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virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
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/// Return the local inertia tensor of the collision shape
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virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;
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/// Return the number of faces of the polyhedron
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virtual uint getNbFaces() const override;
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/// Return a given face of the polyhedron
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virtual const HalfEdgeStructure::Face& getFace(uint faceIndex) const override;
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/// Return the number of vertices of the polyhedron
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virtual uint getNbVertices() const override;
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/// Return a given vertex of the polyhedron
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virtual HalfEdgeStructure::Vertex getVertex(uint vertexIndex) const override;
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/// Return the number of half-edges of the polyhedron
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virtual uint getNbHalfEdges() const override;
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/// Return a given half-edge of the polyhedron
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virtual const HalfEdgeStructure::Edge& getHalfEdge(uint edgeIndex) const override;
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/// Return the position of a given vertex
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virtual Vector3 getVertexPosition(uint vertexIndex) const override;
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/// Return the normal vector of a given face of the polyhedron
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virtual Vector3 getFaceNormal(uint faceIndex) const override;
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/// Return the centroid of the polyhedron
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virtual Vector3 getCentroid() const override;
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/// Return the string representation of the shape
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virtual std::string to_string() const override;
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};
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// Return the extents of the box
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/**
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* @return The vector with the three extents of the box shape (in meters)
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*/
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inline Vector3 BoxShape::getExtent() const {
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return mExtent;
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}
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// Set the scaling vector of the collision shape
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inline void BoxShape::setLocalScaling(const Vector3& scaling) {
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mExtent = (mExtent / mScaling) * scaling;
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CollisionShape::setLocalScaling(scaling);
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}
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// Return the local bounds of the shape in x, y and z directions
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/// This method is used to compute the AABB of the box
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/**
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* @param min The minimum bounds of the shape in local-space coordinates
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* @param max The maximum bounds of the shape in local-space coordinates
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*/
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inline void BoxShape::getLocalBounds(Vector3& min, Vector3& max) const {
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// Maximum bounds
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max = mExtent;
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// Minimum bounds
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min = -max;
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}
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// Return the number of bytes used by the collision shape
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inline size_t BoxShape::getSizeInBytes() const {
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return sizeof(BoxShape);
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}
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// Return a local support point in a given direction without the object margin
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inline Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const {
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return Vector3(direction.x < decimal(0.0) ? -mExtent.x : mExtent.x,
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direction.y < decimal(0.0) ? -mExtent.y : mExtent.y,
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direction.z < decimal(0.0) ? -mExtent.z : mExtent.z);
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}
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// Return true if a point is inside the collision shape
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inline bool BoxShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const {
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return (localPoint.x < mExtent[0] && localPoint.x > -mExtent[0] &&
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localPoint.y < mExtent[1] && localPoint.y > -mExtent[1] &&
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localPoint.z < mExtent[2] && localPoint.z > -mExtent[2]);
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}
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// Return the number of faces of the polyhedron
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inline uint BoxShape::getNbFaces() const {
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return 6;
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}
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// Return a given face of the polyhedron
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inline const HalfEdgeStructure::Face& BoxShape::getFace(uint faceIndex) const {
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assert(faceIndex < mHalfEdgeStructure.getNbFaces());
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return mHalfEdgeStructure.getFace(faceIndex);
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}
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// Return the number of vertices of the polyhedron
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inline uint BoxShape::getNbVertices() const {
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return 8;
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}
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// Return a given vertex of the polyhedron
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inline HalfEdgeStructure::Vertex BoxShape::getVertex(uint vertexIndex) const {
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assert(vertexIndex < getNbVertices());
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return mHalfEdgeStructure.getVertex(vertexIndex);
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}
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// Return the position of a given vertex
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inline Vector3 BoxShape::getVertexPosition(uint vertexIndex) const {
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assert(vertexIndex < getNbVertices());
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Vector3 extent = getExtent();
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switch(vertexIndex) {
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case 0: return Vector3(-extent.x, -extent.y, extent.z);
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case 1: return Vector3(extent.x, -extent.y, extent.z);
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case 2: return Vector3(extent.x, extent.y, extent.z);
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case 3: return Vector3(-extent.x, extent.y, extent.z);
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case 4: return Vector3(-extent.x, -extent.y, -extent.z);
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case 5: return Vector3(extent.x, -extent.y, -extent.z);
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case 6: return Vector3(extent.x, extent.y, -extent.z);
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case 7: return Vector3(-extent.x, extent.y, -extent.z);
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}
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}
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// Return the normal vector of a given face of the polyhedron
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inline Vector3 BoxShape::getFaceNormal(uint faceIndex) const {
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assert(faceIndex < getNbFaces());
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switch(faceIndex) {
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case 0: return Vector3(0, 0, 1);
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case 1: return Vector3(1, 0, 0);
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case 2: return Vector3(0, 0, -1);
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case 3: return Vector3(-1, 0, 0);
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case 4: return Vector3(0, -1, 0);
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case 5: return Vector3(0, 1, 0);
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}
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assert(false);
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}
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// Return the centroid of the box
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inline Vector3 BoxShape::getCentroid() const {
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return Vector3::zero();
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}
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// Return the string representation of the shape
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inline std::string BoxShape::to_string() const {
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return "BoxShape {extents=" + mExtent.to_string() + "}";
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}
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// Return the number of half-edges of the polyhedron
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inline uint BoxShape::getNbHalfEdges() const {
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return 24;
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}
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// Return a given half-edge of the polyhedron
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inline const HalfEdgeStructure::Edge& BoxShape::getHalfEdge(uint edgeIndex) const {
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assert(edgeIndex < getNbHalfEdges());
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return mHalfEdgeStructure.getHalfEdge(edgeIndex);
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}
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}
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#endif
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