329 lines
13 KiB
C++
329 lines
13 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_TRIANGLE_SHAPE_H
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#define REACTPHYSICS3D_TRIANGLE_SHAPE_H
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// Libraries
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#include "mathematics/mathematics.h"
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#include "ConvexPolyhedronShape.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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/// Raycast test side for the triangle
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enum class TriangleRaycastSide {
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/// Raycast against front triangle
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FRONT,
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/// Raycast against back triangle
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BACK,
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/// Raycast against front and back triangle
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FRONT_AND_BACK
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};
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// Class TriangleShape
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/**
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* This class represents a triangle collision shape that is centered
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* at the origin and defined three points. A user cannot instanciate
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* an object of this class. This class is for internal use only. Instances
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* of this class are created when the user creates an HeightFieldShape and
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* a ConcaveMeshShape
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*/
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class TriangleShape : public ConvexPolyhedronShape {
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protected:
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// -------------------- Attribute -------------------- //
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/// Three points of the triangle
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Vector3 mPoints[3];
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/// Normal of the triangle
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Vector3 mNormal;
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/// Three vertices normals for smooth collision with triangle mesh
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Vector3 mVerticesNormals[3];
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/// Raycast test type for the triangle (front, back, front-back)
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TriangleRaycastSide mRaycastTestType;
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/// Faces information for the two faces of the triangle
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HalfEdgeStructure::Face mFaces[2];
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/// Edges information for the six edges of the triangle
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HalfEdgeStructure::Edge mEdges[6];
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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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/// Get a smooth contact normal for collision for a triangle of the mesh
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Vector3 computeSmoothLocalContactNormalForTriangle(const Vector3& localContactPoint) const;
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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) 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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/// Generate the id of the shape (used for temporal coherence)
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void generateId();
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// -------------------- Methods -------------------- //
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/// This method implements the technique described in Game Physics Pearl book
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void computeSmoothMeshContact(Vector3 localContactPointTriangle, const Transform& triangleShapeToWorldTransform,
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const Transform& worldToOtherShapeTransform, decimal penetrationDepth, bool isTriangleShape1,
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Vector3& outNewLocalContactPointOtherShape, Vector3& outSmoothWorldContactTriangleNormal) const;
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public:
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// -------------------- Methods -------------------- //
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/// Constructor
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TriangleShape(const Vector3* vertices, const Vector3* verticesNormals, uint shapeId);
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/// Destructor
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virtual ~TriangleShape() override = default;
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/// Deleted copy-constructor
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TriangleShape(const TriangleShape& shape) = delete;
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/// Deleted assignment operator
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TriangleShape& operator=(const TriangleShape& shape) = delete;
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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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/// Set the local scaling vector of the collision shape
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virtual void setLocalScaling(const Vector3& scaling) 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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/// Update the AABB of a body using its collision shape
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virtual void computeAABB(AABB& aabb, const Transform& transform) const override;
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/// Return the raycast test type (front, back, front-back)
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TriangleRaycastSide getRaycastTestType() const;
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// Set the raycast test type (front, back, front-back)
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void setRaycastTestType(TriangleRaycastSide testType);
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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 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 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 centroid of the polyhedron
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virtual Vector3 getCentroid() const override;
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/// This method compute the smooth mesh contact with a triangle in case one of the two collision shapes is a triangle. The idea in this case is to use a smooth vertex normal of the triangle mesh
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static void computeSmoothTriangleMeshContact(const CollisionShape* shape1, const CollisionShape* shape2,
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Vector3& localContactPointShape1, Vector3& localContactPointShape2,
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const Transform& shape1ToWorld, const Transform& shape2ToWorld,
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decimal penetrationDepth, Vector3& outSmoothVertexNormal);
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// ---------- Friendship ---------- //
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friend class ConcaveMeshRaycastCallback;
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friend class TriangleOverlapCallback;
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friend class MiddlePhaseTriangleCallback;
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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 TriangleShape::getSizeInBytes() const {
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return sizeof(TriangleShape);
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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 TriangleShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const {
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Vector3 dotProducts(direction.dot(mPoints[0]), direction.dot(mPoints[1]), direction.dot(mPoints[2]));
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return mPoints[dotProducts.getMaxAxis()];
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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 TriangleShape::getLocalBounds(Vector3& min, Vector3& max) const {
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const Vector3 xAxis(mPoints[0].x, mPoints[1].x, mPoints[2].x);
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const Vector3 yAxis(mPoints[0].y, mPoints[1].y, mPoints[2].y);
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const Vector3 zAxis(mPoints[0].z, mPoints[1].z, mPoints[2].z);
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min.setAllValues(xAxis.getMinValue(), yAxis.getMinValue(), zAxis.getMinValue());
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max.setAllValues(xAxis.getMaxValue(), yAxis.getMaxValue(), zAxis.getMaxValue());
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min -= Vector3(mMargin, mMargin, mMargin);
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max += Vector3(mMargin, mMargin, mMargin);
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}
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// Set the local scaling vector of the collision shape
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inline void TriangleShape::setLocalScaling(const Vector3& scaling) {
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mPoints[0] = (mPoints[0] / mScaling) * scaling;
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mPoints[1] = (mPoints[1] / mScaling) * scaling;
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mPoints[2] = (mPoints[2] / mScaling) * scaling;
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CollisionShape::setLocalScaling(scaling);
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}
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// Return the local inertia tensor of the triangle shape
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/**
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* @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
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* coordinates
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* @param mass Mass to use to compute the inertia tensor of the collision shape
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*/
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inline void TriangleShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
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tensor.setToZero();
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}
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// Update the AABB of a body using its collision shape
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/**
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* @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape
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* computed in world-space coordinates
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* @param transform Transform used to compute the AABB of the collision shape
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*/
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inline void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) const {
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const Vector3 worldPoint1 = transform * mPoints[0];
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const Vector3 worldPoint2 = transform * mPoints[1];
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const Vector3 worldPoint3 = transform * mPoints[2];
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const Vector3 xAxis(worldPoint1.x, worldPoint2.x, worldPoint3.x);
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const Vector3 yAxis(worldPoint1.y, worldPoint2.y, worldPoint3.y);
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const Vector3 zAxis(worldPoint1.z, worldPoint2.z, worldPoint3.z);
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aabb.setMin(Vector3(xAxis.getMinValue(), yAxis.getMinValue(), zAxis.getMinValue()));
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aabb.setMax(Vector3(xAxis.getMaxValue(), yAxis.getMaxValue(), zAxis.getMaxValue()));
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}
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// Return true if a point is inside the collision shape
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inline bool TriangleShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const {
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return false;
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}
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// Return the number of faces of the polyhedron
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inline uint TriangleShape::getNbFaces() const {
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return 2;
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}
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// Return a given face of the polyhedron
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inline const HalfEdgeStructure::Face& TriangleShape::getFace(uint faceIndex) const {
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assert(faceIndex < 2);
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return mFaces[faceIndex];
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}
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// Return the number of vertices of the polyhedron
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inline uint TriangleShape::getNbVertices() const {
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return 3;
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}
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// Return a given vertex of the polyhedron
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inline HalfEdgeStructure::Vertex TriangleShape::getVertex(uint vertexIndex) const {
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assert(vertexIndex < 3);
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HalfEdgeStructure::Vertex vertex(vertexIndex);
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switch (vertexIndex) {
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case 0: vertex.edgeIndex = 0; break;
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case 1: vertex.edgeIndex = 2; break;
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case 2: vertex.edgeIndex = 4; break;
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}
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return vertex;
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}
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// Return a given half-edge of the polyhedron
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inline const HalfEdgeStructure::Edge& TriangleShape::getHalfEdge(uint edgeIndex) const {
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assert(edgeIndex < getNbHalfEdges());
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return mEdges[edgeIndex];
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}
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// Return the position of a given vertex
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inline Vector3 TriangleShape::getVertexPosition(uint vertexIndex) const {
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assert(vertexIndex < 3);
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return mPoints[vertexIndex];
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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 TriangleShape::getFaceNormal(uint faceIndex) const {
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assert(faceIndex < 2);
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return faceIndex == 0 ? mNormal : -mNormal;
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}
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// Return the centroid of the box
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inline Vector3 TriangleShape::getCentroid() const {
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return (mPoints[0] + mPoints[1] + mPoints[2]) / decimal(3.0);
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}
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// Return the number of half-edges of the polyhedron
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inline uint TriangleShape::getNbHalfEdges() const {
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return 6;
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}
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// Return the raycast test type (front, back, front-back)
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inline TriangleRaycastSide TriangleShape::getRaycastTestType() const {
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return mRaycastTestType;
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}
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// Set the raycast test type (front, back, front-back)
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/**
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* @param testType Raycast test type for the triangle (front, back, front-back)
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*/
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inline void TriangleShape::setRaycastTestType(TriangleRaycastSide testType) {
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mRaycastTestType = testType;
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}
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}
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#endif
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