216 lines
8.1 KiB
C++
216 lines
8.1 KiB
C++
/********************************************************************************
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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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* *
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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_COLLISION_BODY_H
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#define REACTPHYSICS3D_COLLISION_BODY_H
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// Libraries
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#include <cassert>
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#include "Body.h"
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#include "collision/shapes/AABB.h"
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#include "mathematics/Transform.h"
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#include "configuration.h"
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/// Namespace reactphysics3d
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namespace reactphysics3d {
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// Declarations
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struct ContactManifoldListElement;
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class ProxyShape;
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class CollisionWorld;
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class CollisionShape;
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struct RaycastInfo;
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class PoolAllocator;
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class Profiler;
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/// Enumeration for the type of a body
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/// STATIC : A static body has infinite mass, zero velocity but the position can be
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/// changed manually. A static body does not collide with other static or kinematic bodies.
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/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its
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/// position is computed by the physics engine. A kinematic body does not collide with
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/// other static or kinematic bodies.
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/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its
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/// position is determined by the physics engine. A dynamic body can collide with other
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/// dynamic, static or kinematic bodies.
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enum class BodyType {STATIC, KINEMATIC, DYNAMIC};
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// Class CollisionBody
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/**
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* This class represents a body that is able to collide with others
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* bodies. This class inherits from the Body class.
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*/
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class CollisionBody : public Body {
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protected :
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// -------------------- Attributes -------------------- //
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// TODO : Move this into the dynamics components
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/// Type of body (static, kinematic or dynamic)
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BodyType mType;
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/// Reference to the world the body belongs to
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CollisionWorld& mWorld;
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#ifdef IS_PROFILING_ACTIVE
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/// Pointer to the profiler
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Profiler* mProfiler;
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#endif
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// -------------------- Methods -------------------- //
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/// Remove all the collision shapes
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void removeAllCollisionShapes();
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/// Update the broad-phase state for this body (because it has moved for instance)
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void updateBroadPhaseState() const;
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/// Ask the broad-phase to test again the collision shapes of the body for collision
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/// (as if the body has moved).
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void askForBroadPhaseCollisionCheck() const;
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/// Set the variable to know whether or not the body is sleeping
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virtual void setIsSleeping(bool isSleeping) override;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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CollisionBody(CollisionWorld& world, Entity entity);
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/// Destructor
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virtual ~CollisionBody() override;
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/// Deleted copy-constructor
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CollisionBody(const CollisionBody& body) = delete;
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/// Deleted assignment operator
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CollisionBody& operator=(const CollisionBody& body) = delete;
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/// Return the type of the body
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BodyType getType() const;
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/// Set the type of the body
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void setType(BodyType type);
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/// Set whether or not the body is active
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virtual void setIsActive(bool isActive) override;
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/// Return the current position and orientation
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const Transform& getTransform() const;
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/// Set the current position and orientation
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virtual void setTransform(const Transform& transform);
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/// Add a collision shape to the body.
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virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape,
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const Transform& transform);
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/// Remove a collision shape from the body
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virtual void removeCollisionShape(ProxyShape *proxyShape);
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/// Return true if a point is inside the collision body
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bool testPointInside(const Vector3& worldPoint) const;
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/// Raycast method with feedback information
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bool raycast(const Ray& ray, RaycastInfo& raycastInfo);
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/// Test if the collision body overlaps with a given AABB
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bool testAABBOverlap(const AABB& worldAABB) const;
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/// Compute and return the AABB of the body by merging all proxy shapes AABBs
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AABB getAABB() const;
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/// Return a const pointer to a given proxy-shape of the body
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const ProxyShape* getProxyShape(uint proxyShapeIndex) const;
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/// Return a pointer to a given proxy-shape of the body
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ProxyShape* getProxyShape(uint proxyShapeIndex);
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/// Return the number of proxy-shapes associated with this body
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uint getNbProxyShapes() const;
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/// Return the world-space coordinates of a point given the local-space coordinates of the body
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Vector3 getWorldPoint(const Vector3& localPoint) const;
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/// Return the world-space vector of a vector given in local-space coordinates of the body
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Vector3 getWorldVector(const Vector3& localVector) const;
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/// Return the body local-space coordinates of a point given in the world-space coordinates
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Vector3 getLocalPoint(const Vector3& worldPoint) const;
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/// Return the body local-space coordinates of a vector given in the world-space coordinates
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Vector3 getLocalVector(const Vector3& worldVector) const;
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#ifdef IS_PROFILING_ACTIVE
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/// Set the profiler
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virtual void setProfiler(Profiler* profiler);
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#endif
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// -------------------- Friendship -------------------- //
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friend class CollisionWorld;
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friend class DynamicsWorld;
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friend class CollisionDetection;
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friend class BroadPhaseAlgorithm;
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friend class ConvexMeshShape;
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friend class ProxyShape;
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};
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// Return the type of the body
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/**
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* @return the type of the body (STATIC, KINEMATIC, DYNAMIC)
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*/
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inline BodyType CollisionBody::getType() const {
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return mType;
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}
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/// Test if the collision body overlaps with a given AABB
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/**
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* @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap
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* @return True if the given AABB overlaps with the AABB of the collision body
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*/
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inline bool CollisionBody::testAABBOverlap(const AABB& worldAABB) const {
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return worldAABB.testCollision(getAABB());
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}
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#ifdef IS_PROFILING_ACTIVE
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// Set the profiler
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inline void CollisionBody::setProfiler(Profiler* profiler) {
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mProfiler = profiler;
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}
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#endif
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}
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#endif
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