251 lines
9.2 KiB
C++
251 lines
9.2 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 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 <stdexcept>
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#include <cassert>
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#include "Body.h"
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#include "mathematics/Transform.h"
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#include "collision/shapes/AABB.h"
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#include "collision/shapes/CollisionShape.h"
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#include "collision/RaycastInfo.h"
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#include "memory/MemoryAllocator.h"
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#include "configuration.h"
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/// Namespace reactphysics3d
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namespace reactphysics3d {
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// Class declarations
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struct ContactManifoldListElement;
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class ProxyShape;
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class CollisionWorld;
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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 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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/// Type of body (static, kinematic or dynamic)
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BodyType mType;
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/// Position and orientation of the body
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Transform mTransform;
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/// Last position and orientation of the body
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Transform mOldTransform;
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/// Interpolation factor used for the state interpolation
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decimal mInterpolationFactor;
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/// True if the body can collide with others bodies
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bool mIsCollisionEnabled;
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/// First element of the linked list of proxy collision shapes of this body
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ProxyShape* mProxyCollisionShapes;
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/// Number of collision shapes
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uint mNbCollisionShapes;
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/// First element of the linked list of contact manifolds involving this body
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ContactManifoldListElement* mContactManifoldsList;
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/// Reference to the world the body belongs to
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CollisionWorld& mWorld;
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// -------------------- Methods -------------------- //
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/// Private copy-constructor
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CollisionBody(const CollisionBody& body);
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/// Private assignment operator
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CollisionBody& operator=(const CollisionBody& body);
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/// Reset the contact manifold lists
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void resetContactManifoldsList();
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/// Remove all the collision shapes
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void removeAllCollisionShapes();
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/// Update the old transform with the current one.
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void updateOldTransform();
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/// Update the broad-phase state for this body (because it has moved for instance)
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virtual 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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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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CollisionBody(const Transform& transform, CollisionWorld& world, bodyindex id);
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/// Destructor
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virtual ~CollisionBody();
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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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/// 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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void setTransform(const Transform& transform);
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/// Add a collision shape to the body.
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ProxyShape* addCollisionShape(const CollisionShape& collisionShape,
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const Transform& transform = Transform::identity());
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/// Remove a collision shape from the body
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virtual void removeCollisionShape(const ProxyShape* proxyShape);
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/// Return the interpolated transform for rendering
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Transform getInterpolatedTransform() const;
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/// Set the interpolation factor of the body
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void setInterpolationFactor(decimal factor);
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/// Return true if the body can collide with others bodies
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bool isCollisionEnabled() const;
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/// Enable/disable the collision with this body
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void enableCollision(bool isCollisionEnabled);
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/// Return the first element of the linked list of contact manifolds involving this body
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const ContactManifoldListElement* getContactManifoldsLists() const;
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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
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bool raycast(const Ray& ray, decimal distance = RAYCAST_INFINITY_DISTANCE);
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/// Raycast method with feedback information
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bool raycast(const Ray& ray, RaycastInfo& raycastInfo,
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decimal distance = RAYCAST_INFINITY_DISTANCE);
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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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inline BodyType CollisionBody::getType() const {
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return mType;
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}
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// Set the type of the body
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inline void CollisionBody::setType(BodyType type) {
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mType = type;
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if (mType == STATIC) {
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// Update the broad-phase state of the body
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updateBroadPhaseState();
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}
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}
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// Return the interpolated transform for rendering
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inline Transform CollisionBody::getInterpolatedTransform() const {
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return Transform::interpolateTransforms(mOldTransform, mTransform, mInterpolationFactor);
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}
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// Set the interpolation factor of the body
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inline void CollisionBody::setInterpolationFactor(decimal factor) {
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// Set the factor
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mInterpolationFactor = factor;
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}
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// Return the current position and orientation
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inline const Transform& CollisionBody::getTransform() const {
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return mTransform;
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}
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// Set the current position and orientation
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inline void CollisionBody::setTransform(const Transform& transform) {
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// Update the transform of the body
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mTransform = transform;
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// Update the broad-phase state of the body
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updateBroadPhaseState();
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}
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// Return true if the body can collide with others bodies
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inline bool CollisionBody::isCollisionEnabled() const {
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return mIsCollisionEnabled;
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}
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// Enable/disable the collision with this body
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inline void CollisionBody::enableCollision(bool isCollisionEnabled) {
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mIsCollisionEnabled = isCollisionEnabled;
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}
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// Update the old transform with the current one.
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/// This is used to compute the interpolated position and orientation of the body
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inline void CollisionBody::updateOldTransform() {
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mOldTransform = mTransform;
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}
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// Return the first element of the linked list of contact manifolds involving this body
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inline const ContactManifoldListElement* CollisionBody::getContactManifoldsLists() const {
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return mContactManifoldsList;
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}
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}
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#endif
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