reactphysics3d/src/collision/shapes/SphereShape.h

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2019 Daniel Chappuis                                       *
*********************************************************************************
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* This software is provided 'as-is', without any express or implied warranty.   *
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*    appreciated but is not required.                                           *
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*    misrepresented as being the original software.                             *
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#ifndef REACTPHYSICS3D_SPHERE_SHAPE_H
#define REACTPHYSICS3D_SPHERE_SHAPE_H

// Libraries
#include "ConvexShape.h"
#include "mathematics/mathematics.h"

// ReactPhysics3D namespace
namespace reactphysics3d {

// Declarations
class CollisionBody;

// Class SphereShape
/**
 * This class represents a sphere collision shape that is centered
 * at the origin and defined by its radius. This collision shape does not
 * have an explicit object margin distance. The margin is implicitly the
 * radius of the sphere. Therefore, no need to specify an object margin
 * for a sphere shape.
 */
class SphereShape : public ConvexShape {

    protected :

        // -------------------- Methods -------------------- //

        /// Constructor
        SphereShape(decimal radius, MemoryAllocator& allocator);

        /// Return a local support point in a given direction without the object margin
        virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override;

        /// Return true if a point is inside the collision shape
        virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const override;

        /// Raycast method with feedback information
        virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override;

        /// Return the number of bytes used by the collision shape
        virtual size_t getSizeInBytes() const override;

        /// Destructor
        virtual ~SphereShape() override = default;

    public :

        // -------------------- Methods -------------------- //

        /// Deleted copy-constructor
        SphereShape(const SphereShape& shape) = delete;

        /// Deleted assignment operator
        SphereShape& operator=(const SphereShape& shape) = delete;

        /// Return the radius of the sphere
        decimal getRadius() const;

        /// Set the radius of the sphere
        void setRadius(decimal radius);

        /// Return true if the collision shape is a polyhedron
        virtual bool isPolyhedron() const override;

        /// Return the local bounds of the shape in x, y and z directions.
        virtual void getLocalBounds(Vector3& min, Vector3& max) const override;

        /// Return the local inertia tensor of the collision shape
        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;

        /// Update the AABB of a body using its collision shape
        virtual void computeAABB(AABB& aabb, const Transform& transform) const override;

        /// Return the string representation of the shape
        virtual std::string to_string() const override;

        // ----- Friendship ----- //

        friend class PhysicsCommon;
};

// Get the radius of the sphere
/**
 * @return Radius of the sphere
 */
inline decimal SphereShape::getRadius() const {
    return mMargin;
}

// Set the radius of the sphere
/// Note that you might want to recompute the inertia tensor and center of mass of the body
/// after changing the radius of the collision shape
/**
 * @param radius Radius of the sphere
 */
inline void SphereShape::setRadius(decimal radius) {
   assert(radius > decimal(0.0));
   mMargin = radius;

   notifyColliderAboutChangedSize();
}

// Return true if the collision shape is a polyhedron
/**
 * @return False because the sphere shape is not a polyhedron
 */
inline bool SphereShape::isPolyhedron() const {
    return false;
}

// Return the number of bytes used by the collision shape
/**
 * @return The size (in bytes) of the sphere shape
 */
inline size_t SphereShape::getSizeInBytes() const {
    return sizeof(SphereShape);
}

// Return a local support point in a given direction without the object margin
inline Vector3 SphereShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const {

    // Return the center of the sphere (the radius is taken into account in the object margin)
    return Vector3(0.0, 0.0, 0.0);
}

// Return the local bounds of the shape in x, y and z directions.
// This method is used to compute the AABB of the box
/**
 * @param min The minimum bounds of the shape in local-space coordinates
 * @param max The maximum bounds of the shape in local-space coordinates
 */
inline void SphereShape::getLocalBounds(Vector3& min, Vector3& max) const {

    // Maximum bounds
    max.x = mMargin;
    max.y = mMargin;
    max.z = mMargin;

    // Minimum bounds
    min.x = -mMargin;
    min.y = min.x;
    min.z = min.x;
}

// Return the local inertia tensor of the sphere
/**
 * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
 *                    coordinates
 * @param mass Mass to use to compute the inertia tensor of the collision shape
 */
inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
    decimal diag = decimal(0.4) * mass * mMargin * mMargin;
    tensor.setAllValues(diag, 0.0, 0.0,
                        0.0, diag, 0.0,
                        0.0, 0.0, diag);
}

// Return true if a point is inside the collision shape
inline bool SphereShape::testPointInside(const Vector3& localPoint, Collider* collider) const {
    return (localPoint.lengthSquare() < mMargin * mMargin);
}

// Return the string representation of the shape
inline std::string SphereShape::to_string() const {
    return "SphereShape{radius=" + std::to_string(getRadius()) + "}";
}

}

#endif