182 lines
6.7 KiB
C++
182 lines
6.7 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_CONCAVE_SHAPE_H
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#define REACTPHYSICS3D_CONCAVE_SHAPE_H
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// Libraries
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#include <reactphysics3d/collision/shapes/CollisionShape.h>
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#include <reactphysics3d/collision/shapes/TriangleShape.h>
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class TriangleCallback
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/**
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* This class is used to encapsulate a callback method for
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* a single triangle of a ConcaveMesh.
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*/
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class TriangleCallback {
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public:
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/// Destructor
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virtual ~TriangleCallback() = default;
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/// Report a triangle
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virtual void testTriangle(const Vector3* trianglePoints, const Vector3* verticesNormals, uint shapeId)=0;
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};
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// Class ConcaveShape
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/**
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* This abstract class represents a concave collision shape associated with a
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* body that is used during the narrow-phase collision detection.
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*/
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class ConcaveShape : public CollisionShape {
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protected :
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// -------------------- Attributes -------------------- //
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/// Raycast test type for the triangle (front, back, front-back)
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TriangleRaycastSide mRaycastTestType;
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/// Scale of the shape
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Vector3 mScale;
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// -------------------- Methods -------------------- //
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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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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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ConcaveShape(CollisionShapeName name, MemoryAllocator& allocator, const Vector3& scaling);
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/// Destructor
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virtual ~ConcaveShape() override = default;
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/// Deleted copy-constructor
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ConcaveShape(const ConcaveShape& shape) = delete;
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/// Deleted assignment operator
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ConcaveShape& operator=(const ConcaveShape& shape) = delete;
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/// Return the raycast test type (front, back, front-back)
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TriangleRaycastSide getRaycastTestType() const;
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// Set the raycast test type (front, back, front-back)
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void setRaycastTestType(TriangleRaycastSide testType);
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/// Return the scale of the shape
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const Vector3& getScale() const;
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/// Set the scale of the shape
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void setScale(const Vector3& scale);
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/// Return the local inertia tensor of the collision shape
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virtual Vector3 getLocalInertiaTensor(decimal mass) const override;
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/// Return true if the collision shape is convex, false if it is concave
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virtual bool isConvex() 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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/// Use a callback method on all triangles of the concave shape inside a given AABB
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virtual void computeOverlappingTriangles(const AABB& localAABB, List<Vector3>& triangleVertices,
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List<Vector3>& triangleVerticesNormals, List<uint>& shapeIds,
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MemoryAllocator& allocator) const=0;
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/// Compute and return the volume of the collision shape
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virtual decimal getVolume() const override;
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};
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// Return true if the collision shape is convex, false if it is concave
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inline bool ConcaveShape::isConvex() const {
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return false;
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}
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// Return true if the collision shape is a polyhedron
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inline bool ConcaveShape::isPolyhedron() const {
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return true;
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}
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// Return true if a point is inside the collision shape
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inline bool ConcaveShape::testPointInside(const Vector3& localPoint, Collider* collider) const {
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return false;
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}
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// Return the raycast test type (front, back, front-back)
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inline TriangleRaycastSide ConcaveShape::getRaycastTestType() const {
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return mRaycastTestType;
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}
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// Set the raycast test type (front, back, front-back)
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/**
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* @param testType Raycast test type for the triangle (front, back, front-back)
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*/
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inline void ConcaveShape::setRaycastTestType(TriangleRaycastSide testType) {
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mRaycastTestType = testType;
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}
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// Return the scale of the shape
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inline const Vector3& ConcaveShape::getScale() const {
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return mScale;
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}
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// Set the scale of the shape
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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 scale of a collision shape
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inline void ConcaveShape::setScale(const Vector3& scale) {
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mScale = scale;
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notifyColliderAboutChangedSize();
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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 mass Mass to use to compute the inertia tensor of the collision shape
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*/
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inline Vector3 ConcaveShape::getLocalInertiaTensor(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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return Vector3(mass, mass, mass);
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}
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}
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#endif
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