260 lines
10 KiB
C++
260 lines
10 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_COLLISION_WORLD_H
|
|
#define REACTPHYSICS3D_COLLISION_WORLD_H
|
|
|
|
// Libraries
|
|
#include <vector>
|
|
#include <set>
|
|
#include <list>
|
|
#include <algorithm>
|
|
#include "mathematics/mathematics.h"
|
|
#include "Profiler.h"
|
|
#include "body/CollisionBody.h"
|
|
#include "collision/RaycastInfo.h"
|
|
#include "OverlappingPair.h"
|
|
#include "collision/CollisionDetection.h"
|
|
#include "constraint/Joint.h"
|
|
#include "constraint/ContactPoint.h"
|
|
#include "memory/MemoryManager.h"
|
|
#include "EventListener.h"
|
|
|
|
/// Namespace reactphysics3d
|
|
namespace reactphysics3d {
|
|
|
|
// Declarations
|
|
class CollisionCallback;
|
|
class OverlapCallback;
|
|
|
|
// Class CollisionWorld
|
|
/**
|
|
* This class represent a world where it is possible to move bodies
|
|
* by hand and to test collision between each other. In this kind of
|
|
* world, the bodies movement is not computed using the laws of physics.
|
|
*/
|
|
class CollisionWorld {
|
|
|
|
protected :
|
|
|
|
// -------------------- Attributes -------------------- //
|
|
|
|
/// Memory manager
|
|
MemoryManager mMemoryManager;
|
|
|
|
/// Reference to the collision detection
|
|
CollisionDetection mCollisionDetection;
|
|
|
|
/// All the bodies (rigid and soft) of the world
|
|
std::set<CollisionBody*> mBodies;
|
|
|
|
/// Current body ID
|
|
bodyindex mCurrentBodyID;
|
|
|
|
/// List of free ID for rigid bodies
|
|
std::vector<luint> mFreeBodiesIDs;
|
|
|
|
/// Pointer to an event listener object
|
|
EventListener* mEventListener;
|
|
|
|
#ifdef IS_PROFILING_ACTIVE
|
|
|
|
/// Real-time hierarchical profiler
|
|
Profiler mProfiler;
|
|
#endif
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
/// Return the next available body ID
|
|
bodyindex computeNextAvailableBodyID();
|
|
|
|
/// Reset all the contact manifolds linked list of each body
|
|
void resetContactManifoldListsOfBodies();
|
|
|
|
public :
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
/// Constructor
|
|
CollisionWorld();
|
|
|
|
/// Destructor
|
|
virtual ~CollisionWorld();
|
|
|
|
/// Deleted copy-constructor
|
|
CollisionWorld(const CollisionWorld& world) = delete;
|
|
|
|
/// Deleted assignment operator
|
|
CollisionWorld& operator=(const CollisionWorld& world) = delete;
|
|
|
|
/// Return an iterator to the beginning of the bodies of the physics world
|
|
std::set<CollisionBody*>::iterator getBodiesBeginIterator();
|
|
|
|
/// Return an iterator to the end of the bodies of the physics world
|
|
std::set<CollisionBody*>::iterator getBodiesEndIterator();
|
|
|
|
/// Create a collision body
|
|
CollisionBody* createCollisionBody(const Transform& transform);
|
|
|
|
/// Destroy a collision body
|
|
void destroyCollisionBody(CollisionBody* collisionBody);
|
|
|
|
/// Set the collision dispatch configuration
|
|
void setCollisionDispatch(CollisionDispatch* collisionDispatch);
|
|
|
|
/// Ray cast method
|
|
void raycast(const Ray& ray, RaycastCallback* raycastCallback,
|
|
unsigned short raycastWithCategoryMaskBits = 0xFFFF) const;
|
|
|
|
/// Test if the AABBs of two bodies overlap
|
|
bool testAABBOverlap(const CollisionBody* body1,
|
|
const CollisionBody* body2) const;
|
|
|
|
/// Report all the bodies that overlap with the AABB in parameter
|
|
void testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback, unsigned short categoryMaskBits = 0xFFFF);
|
|
|
|
/// Return true if two bodies overlap
|
|
bool testOverlap(CollisionBody* body1, CollisionBody* body2);
|
|
|
|
/// Report all the bodies that overlap with the body in parameter
|
|
void testOverlap(CollisionBody* body, OverlapCallback* overlapCallback, unsigned short categoryMaskBits = 0xFFFF);
|
|
|
|
/// Test and report collisions between two bodies
|
|
void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback);
|
|
|
|
/// Test and report collisions between a body and all the others bodies of the world
|
|
void testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits = 0xFFFF);
|
|
|
|
/// Test and report collisions between all shapes of the world
|
|
void testCollision(CollisionCallback* callback);
|
|
|
|
#ifdef IS_PROFILING_ACTIVE
|
|
|
|
/// Set the name of the profiler
|
|
void setProfilerName(std::string name);
|
|
#endif
|
|
|
|
/// Return the current world-space AABB of given proxy shape
|
|
AABB getWorldAABB(const ProxyShape* proxyShape) const;
|
|
|
|
// -------------------- Friendship -------------------- //
|
|
|
|
friend class CollisionDetection;
|
|
friend class CollisionBody;
|
|
friend class RigidBody;
|
|
friend class ConvexMeshShape;
|
|
};
|
|
|
|
// Return an iterator to the beginning of the bodies of the physics world
|
|
/**
|
|
* @return An starting iterator to the set of bodies of the world
|
|
*/
|
|
inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesBeginIterator() {
|
|
return mBodies.begin();
|
|
}
|
|
|
|
// Return an iterator to the end of the bodies of the physics world
|
|
/**
|
|
* @return An ending iterator to the set of bodies of the world
|
|
*/
|
|
inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesEndIterator() {
|
|
return mBodies.end();
|
|
}
|
|
|
|
// Set the collision dispatch configuration
|
|
/// This can be used to replace default collision detection algorithms by your
|
|
/// custom algorithm for instance.
|
|
/**
|
|
* @param CollisionDispatch Pointer to a collision dispatch object describing
|
|
* which collision detection algorithm to use for two given collision shapes
|
|
*/
|
|
inline void CollisionWorld::setCollisionDispatch(CollisionDispatch* collisionDispatch) {
|
|
mCollisionDetection.setCollisionDispatch(collisionDispatch);
|
|
}
|
|
|
|
// Ray cast method
|
|
/**
|
|
* @param ray Ray to use for raycasting
|
|
* @param raycastCallback Pointer to the class with the callback method
|
|
* @param raycastWithCategoryMaskBits Bits mask corresponding to the category of
|
|
* bodies to be raycasted
|
|
*/
|
|
inline void CollisionWorld::raycast(const Ray& ray,
|
|
RaycastCallback* raycastCallback,
|
|
unsigned short raycastWithCategoryMaskBits) const {
|
|
mCollisionDetection.raycast(raycastCallback, ray, raycastWithCategoryMaskBits);
|
|
}
|
|
|
|
// Test and report collisions between two bodies
|
|
/**
|
|
* @param body1 Pointer to the first body to test
|
|
* @param body2 Pointer to the second body to test
|
|
* @param callback Pointer to the object with the callback method
|
|
*/
|
|
inline void CollisionWorld::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback) {
|
|
mCollisionDetection.testCollision(body1, body2, callback);
|
|
}
|
|
|
|
// Test and report collisions between a body and all the others bodies of the world
|
|
/**
|
|
* @param body Pointer to the body against which we need to test collision
|
|
* @param callback Pointer to the object with the callback method to report contacts
|
|
* @param categoryMaskBits Bits mask corresponding to the category of bodies we need to test collision with
|
|
*/
|
|
inline void CollisionWorld::testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits) {
|
|
mCollisionDetection.testCollision(body, callback, categoryMaskBits);
|
|
}
|
|
|
|
// Test and report collisions between all bodies of the world
|
|
/**
|
|
* @param callback Pointer to the object with the callback method to report contacts
|
|
*/
|
|
inline void CollisionWorld::testCollision(CollisionCallback* callback) {
|
|
mCollisionDetection.testCollision(callback);
|
|
}
|
|
|
|
// Report all the bodies that overlap with the body in parameter
|
|
/**
|
|
* @param body Pointer to the collision body to test overlap with
|
|
* @param overlapCallback Pointer to the callback class to report overlap
|
|
* @param categoryMaskBits bits mask used to filter the bodies to test overlap with
|
|
*/
|
|
inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback* overlapCallback, unsigned short categoryMaskBits) {
|
|
mCollisionDetection.testOverlap(body, overlapCallback, categoryMaskBits);
|
|
}
|
|
|
|
#ifdef IS_PROFILING_ACTIVE
|
|
|
|
// Set the name of the profiler
|
|
inline void CollisionWorld::setProfilerName(std::string name) {
|
|
mProfiler.setName(name);
|
|
}
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
#endif
|