224 lines
8.7 KiB
C++
224 lines
8.7 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2019 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_CAPSULE_SHAPE_H
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#define REACTPHYSICS3D_CAPSULE_SHAPE_H
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// Libraries
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#include "ConvexShape.h"
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#include "mathematics/mathematics.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Declarations
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class CollisionBody;
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// Class CapsuleShape
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/**
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* This class represents a capsule collision shape that is defined around the Y axis.
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* A capsule shape can be seen as the convex hull of two spheres.
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* The capsule shape is defined by its radius (radius of the two spheres of the capsule)
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* and its height (distance between the centers of the two spheres). This collision shape
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* does not have an explicit object margin distance. The margin is implicitly the radius
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* and height of the shape. Therefore, no need to specify an object margin for a
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* capsule shape.
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*/
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class CapsuleShape : public ConvexShape {
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protected :
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// -------------------- Attributes -------------------- //
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/// Half height of the capsule (height = distance between the centers of the two spheres)
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decimal mHalfHeight;
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// -------------------- Methods -------------------- //
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/// Constructor
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CapsuleShape(decimal radius, decimal height);
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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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/// Return true if a point is inside the collision shape
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virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const override;
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/// Raycast method with feedback information
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virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override;
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/// Raycasting method between a ray one of the two spheres end cap of the capsule
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bool raycastWithSphereEndCap(const Vector3& point1, const Vector3& point2,
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const Vector3& sphereCenter, decimal maxFraction,
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Vector3& hitLocalPoint, decimal& hitFraction) const;
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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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/// Destructor
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virtual ~CapsuleShape() override = default;
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public :
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// -------------------- Methods -------------------- //
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/// Deleted copy-constructor
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CapsuleShape(const CapsuleShape& shape) = delete;
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/// Deleted assignment operator
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CapsuleShape& operator=(const CapsuleShape& shape) = delete;
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/// Return the radius of the capsule
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decimal getRadius() const;
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/// Set the radius of the capsule
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void setRadius(decimal radius);
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/// Return the height of the capsule
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decimal getHeight() const;
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/// Set the height of the capsule
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void setHeight(decimal height);
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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 true if the collision shape is a polyhedron
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virtual bool isPolyhedron() 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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/// Return the string representation of the shape
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virtual std::string to_string() const override;
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// ----- Friendship ----- //
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friend class PhysicsCommon;
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};
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// Get the radius of the capsule
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/**
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* @return The radius of the capsule shape (in meters)
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*/
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inline decimal CapsuleShape::getRadius() const {
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return mMargin;
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}
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// Set the radius of the capsule
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/// Note that you might want to recompute the inertia tensor and center of mass of the body
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/// after changing the radius of the collision shape
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/**
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* @param radius The radius of the capsule (in meters)
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*/
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inline void CapsuleShape::setRadius(decimal radius) {
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// TODO : Throw a library error here if radius is not larger than zero
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assert(radius > decimal(0.0));
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mMargin = radius;
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}
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// Return the height of the capsule
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/**
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* @return The height of the capsule shape (in meters)
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*/
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inline decimal CapsuleShape::getHeight() const {
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return mHalfHeight + mHalfHeight;
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}
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// Set the height of the capsule
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/// Note that you might want to recompute the inertia tensor and center of mass of the body
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/// after changing the height of the collision shape
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/**
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* @param height The height of the capsule (in meters)
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*/
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inline void CapsuleShape::setHeight(decimal height) {
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// TODO : Throw a library error here if radius is not larger than zero
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assert(height > decimal(0.0));
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mHalfHeight = height * decimal(0.5);
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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 CapsuleShape::getSizeInBytes() const {
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return sizeof(CapsuleShape);
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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 CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const {
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// Maximum bounds
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max.x = mMargin;
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max.y = mHalfHeight + mMargin;
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max.z = mMargin;
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// Minimum bounds
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min.x = -mMargin;
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min.y = -max.y;
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min.z = min.x;
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}
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// Return true if the collision shape is a polyhedron
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inline bool CapsuleShape::isPolyhedron() const {
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return false;
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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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/// A capsule is the convex hull of two spheres S1 and S2. The support point in the direction "d"
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/// of the convex hull of a set of convex objects is the support point "p" in the set of all
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/// support points from all the convex objects with the maximum dot product with the direction "d".
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/// Therefore, in this method, we compute the support points of both top and bottom spheres of
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/// the capsule and return the point with the maximum dot product with the direction vector. Note
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/// that the object margin is implicitly the radius and height of the capsule.
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inline Vector3 CapsuleShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const {
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// Support point top sphere
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decimal dotProductTop = mHalfHeight * direction.y;
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// Support point bottom sphere
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decimal dotProductBottom = -mHalfHeight * direction.y;
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// Return the point with the maximum dot product
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if (dotProductTop > dotProductBottom) {
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return Vector3(0, mHalfHeight, 0);
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}
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else {
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return Vector3(0, -mHalfHeight, 0);
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}
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}
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// Return the string representation of the shape
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inline std::string CapsuleShape::to_string() const {
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return "CapsuleShape{halfHeight=" + std::to_string(mHalfHeight) + ", radius=" + std::to_string(getRadius()) + "}";
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}
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}
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#endif
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