852b923c21
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@391 92aac97c-a6ce-11dd-a772-7fcde58d38e6
71 lines
4.3 KiB
C++
71 lines
4.3 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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********************************************************************************/
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#ifndef COLLISIONDETECTION_H
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#define COLLISIONDETECTION_H
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// Libraries
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#include "BroadPhaseAlgorithm.h"
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#include "NarrowPhaseAlgorithm.h"
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#include "../body/Body.h"
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#include "../engine/PhysicsWorld.h"
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#include "ContactInfo.h"
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#include <vector>
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class CollisionDetection :
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This class computes the collision detection algorithms. We first
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perfom a broad-phase algorithm to know wich pairs of bodies can
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collide and then we run a narrow-phase algorithm to compute the
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collision contacts between bodies.
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-------------------------------------------------------------------
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*/
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class CollisionDetection {
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private :
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PhysicsWorld* world; // Pointer to the physics world
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std::vector<std::pair<const Body*, const Body* > > possibleCollisionPairs; // Possible collision pairs of bodies (computed by broadphase)
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std::vector<ContactInfo*> contactInfos; // Contact informations (computed by narrowphase)
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BroadPhaseAlgorithm* broadPhaseAlgorithm; // Broad-phase algorithm
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NarrowPhaseAlgorithm* narrowPhaseAlgorithm; // Narrow-phase algorithm
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void computeBroadPhase(); // Compute the broad-phase collision detection
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void computeNarrowPhase(); // Compute the narrow-phase collision detection
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void computeAllContacts(); // Compute all the contacts from the collision info list
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void computeContact(const ContactInfo* const contactInfo); // Compute a contact (and add it to the physics world) for two colliding bodies
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void computeContact2(const ContactInfo* const contactInfo); // Compute a contact (and add it to the physics world) for two colliding bodies
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public :
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CollisionDetection(PhysicsWorld* physicsWorld); // Constructor
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~CollisionDetection(); // Destructor
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bool computeCollisionDetection(); // Compute the collision detection
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};
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} // End of the ReactPhysics3D namespace
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#endif
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