301 lines
11 KiB
C++
301 lines
11 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_CONCAVE_MESH_SHAPE_H
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#define REACTPHYSICS3D_CONCAVE_MESH_SHAPE_H
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// Libraries
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#include "ConcaveShape.h"
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#include "collision/broadphase/DynamicAABBTree.h"
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#include "containers/List.h"
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namespace reactphysics3d {
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// Declarations
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class ConcaveMeshShape;
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class Profiler;
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class TriangleShape;
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class TriangleMesh;
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// class ConvexTriangleAABBOverlapCallback
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class ConvexTriangleAABBOverlapCallback : public DynamicAABBTreeOverlapCallback {
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private:
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TriangleCallback& mTriangleTestCallback;
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// Reference to the concave mesh shape
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const ConcaveMeshShape& mConcaveMeshShape;
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// Reference to the Dynamic AABB tree
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const DynamicAABBTree& mDynamicAABBTree;
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public:
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// Constructor
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ConvexTriangleAABBOverlapCallback(TriangleCallback& triangleCallback, const ConcaveMeshShape& concaveShape,
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const DynamicAABBTree& dynamicAABBTree)
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: mTriangleTestCallback(triangleCallback), mConcaveMeshShape(concaveShape), mDynamicAABBTree(dynamicAABBTree) {
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}
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// Called when a overlapping node has been found during the call to
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// DynamicAABBTree:reportAllShapesOverlappingWithAABB()
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virtual void notifyOverlappingNode(int nodeId) override;
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};
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/// Class ConcaveMeshRaycastCallback
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class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback {
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private :
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List<int32> mHitAABBNodes;
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const DynamicAABBTree& mDynamicAABBTree;
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const ConcaveMeshShape& mConcaveMeshShape;
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ProxyShape* mProxyShape;
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RaycastInfo& mRaycastInfo;
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const Ray& mRay;
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bool mIsHit;
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MemoryAllocator& mAllocator;
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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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public:
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// Constructor
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ConcaveMeshRaycastCallback(const DynamicAABBTree& dynamicAABBTree, const ConcaveMeshShape& concaveMeshShape,
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ProxyShape* proxyShape, RaycastInfo& raycastInfo, const Ray& ray, MemoryAllocator& allocator)
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: mHitAABBNodes(allocator), mDynamicAABBTree(dynamicAABBTree), mConcaveMeshShape(concaveMeshShape), mProxyShape(proxyShape),
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mRaycastInfo(raycastInfo), mRay(ray), mIsHit(false), mAllocator(allocator) {
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}
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/// Collect all the AABB nodes that are hit by the ray in the Dynamic AABB Tree
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virtual decimal raycastBroadPhaseShape(int32 nodeId, const Ray& ray) override;
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/// Raycast all collision shapes that have been collected
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void raycastTriangles();
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/// Return true if a raycast hit has been found
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bool getIsHit() const {
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return mIsHit;
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}
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#ifdef IS_PROFILING_ACTIVE
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/// Set the profiler
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void 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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// Class ConcaveMeshShape
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/**
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* This class represents a static concave mesh shape. Note that collision detection
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* with a concave mesh shape can be very expensive. You should only use
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* this shape for a static mesh.
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*/
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class ConcaveMeshShape : public ConcaveShape {
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protected:
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// -------------------- Attributes -------------------- //
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/// Triangle mesh
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TriangleMesh* mTriangleMesh;
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/// Dynamic AABB tree to accelerate collision with the triangles
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DynamicAABBTree mDynamicAABBTree;
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/// Array with computed vertices normals for each TriangleVertexArray of the triangle mesh (only
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/// if the user did not provide its own vertices normals)
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Vector3** mComputedVerticesNormals;
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/// Scaling
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const Vector3 mScaling;
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// -------------------- Methods -------------------- //
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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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/// Insert all the triangles into the dynamic AABB tree
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void initBVHTree();
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/// Return the three vertices coordinates (in the array outTriangleVertices) of a triangle
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void getTriangleVertices(uint subPart, uint triangleIndex, Vector3* outTriangleVertices) const;
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/// Return the three vertex normals (in the array outVerticesNormals) of a triangle
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void getTriangleVerticesNormals(uint subPart, uint triangleIndex, Vector3* outVerticesNormals) const;
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/// Return the indices of the three vertices of a given triangle in the array
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void getTriangleVerticesIndices(uint subPart, uint triangleIndex, uint* outVerticesIndices) const;
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/// Compute the shape Id for a given triangle of the mesh
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uint computeTriangleShapeId(uint subPart, uint triangleIndex) const;
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public:
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/// Constructor
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ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling = Vector3(1, 1, 1));
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/// Destructor
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virtual ~ConcaveMeshShape() = default;
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/// Deleted copy-constructor
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ConcaveMeshShape(const ConcaveMeshShape& shape) = delete;
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/// Deleted assignment operator
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ConcaveMeshShape& operator=(const ConcaveMeshShape& shape) = delete;
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/// Return the scaling vector
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const Vector3& getScaling() const;
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/// Return the number of sub parts contained in this mesh
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uint getNbSubparts() const;
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/// Return the number of triangles in a sub part
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uint getNbTriangles(uint subPart) const;
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/// Return the triangle positions for a specific subpart and triangle index
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void getTriangleVertices(uint subPart, uint triangleIndex, Vector3* v1, Vector3* v2, Vector3* v3) const;
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/// Return the triangle normals for a specific subpart and triangle index
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void getTriangleVerticesNormals(uint subPart, uint triangleIndex, Vector3* n1, Vector3* n2, Vector3* n3) const;
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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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/// Use a callback method on all triangles of the concave shape inside a given AABB
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virtual void testAllTriangles(TriangleCallback& callback, const AABB& localAABB) 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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#ifdef IS_PROFILING_ACTIVE
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/// Set the profiler
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virtual void setProfiler(Profiler* profiler) override;
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#endif
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// ---------- Friendship ----------- //
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friend class ConvexTriangleAABBOverlapCallback;
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friend class ConcaveMeshRaycastCallback;
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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 ConcaveMeshShape::getSizeInBytes() const {
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return sizeof(ConcaveMeshShape);
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}
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// Return the scaling vector
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inline const Vector3& ConcaveMeshShape::getScaling() const {
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return mScaling;
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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 ConcaveMeshShape::getLocalBounds(Vector3& min, Vector3& max) const {
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// Get the AABB of the whole tree
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AABB treeAABB = mDynamicAABBTree.getRootAABB();
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min = treeAABB.getMin();
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max = treeAABB.getMax();
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}
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// Return the local inertia tensor of the 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 ConcaveMeshShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
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// Default inertia tensor
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// Note that this is not very realistic for a concave triangle mesh.
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// However, in most cases, it will only be used static bodies and therefore,
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// the inertia tensor is not used.
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tensor.setAllValues(mass, 0, 0,
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0, mass, 0,
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0, 0, mass);
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}
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// Called when a overlapping node has been found during the call to
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// DynamicAABBTree:reportAllShapesOverlappingWithAABB()
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inline void ConvexTriangleAABBOverlapCallback::notifyOverlappingNode(int nodeId) {
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// Get the node data (triangle index and mesh subpart index)
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int32* data = mDynamicAABBTree.getNodeDataInt(nodeId);
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// Get the triangle vertices for this node from the concave mesh shape
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Vector3 trianglePoints[3];
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mConcaveMeshShape.getTriangleVertices(data[0], data[1], trianglePoints);
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// Get the vertices normals of the triangle
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Vector3 verticesNormals[3];
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mConcaveMeshShape.getTriangleVerticesNormals(data[0], data[1], verticesNormals);
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// Call the callback to test narrow-phase collision with this triangle
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mTriangleTestCallback.testTriangle(trianglePoints, verticesNormals, mConcaveMeshShape.computeTriangleShapeId(data[0], data[1]));
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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 ConcaveMeshShape::setProfiler(Profiler* profiler) {
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CollisionShape::setProfiler(profiler);
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mDynamicAABBTree.setProfiler(profiler);
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}
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#endif
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}
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#endif
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