99 lines
4.4 KiB
C++
99 lines
4.4 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 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_NARROW_PHASE_INFO_H
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#define REACTPHYSICS3D_NARROW_PHASE_INFO_H
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// Libraries
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#include "shapes/CollisionShape.h"
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#include "collision/ContactManifoldInfo.h"
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/// Namespace ReactPhysics3D
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namespace reactphysics3d {
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class OverlappingPair;
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// Class NarrowPhaseInfo
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/**
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* This structure regroups different things about a collision shape. This is
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* used to pass information about a collision shape to a collision algorithm.
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*/
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struct NarrowPhaseInfo {
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public:
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/// Broadphase overlapping pair
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OverlappingPair* overlappingPair;
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/// Pointer to the first collision shape to test collision with
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const CollisionShape* collisionShape1;
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/// Pointer to the second collision shape to test collision with
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const CollisionShape* collisionShape2;
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/// Transform that maps from collision shape 1 local-space to world-space
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Transform shape1ToWorldTransform;
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/// Transform that maps from collision shape 2 local-space to world-space
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Transform shape2ToWorldTransform;
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/// Linked-list of contact points created during the narrow-phase
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ContactPointInfo* contactPoints;
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/// Cached collision data of the proxy shape
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// TODO : Check if we can use separating axis in OverlappingPair instead of cachedCollisionData1 and cachedCollisionData2
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void** cachedCollisionData1;
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/// Cached collision data of the proxy shape
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// TODO : Check if we can use separating axis in OverlappingPair instead of cachedCollisionData1 and cachedCollisionData2
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void** cachedCollisionData2;
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/// Pointer to the next element in the linked list
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NarrowPhaseInfo* next;
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/// Constructor
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NarrowPhaseInfo(OverlappingPair* pair, const CollisionShape* shape1,
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const CollisionShape* shape2, const Transform& shape1Transform,
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const Transform& shape2Transform, void** cachedData1, void** cachedData2);
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/// Destructor
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~NarrowPhaseInfo();
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/// Add a new contact point
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void addContactPoint(const Vector3& contactNormal, decimal penDepth,
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const Vector3& localPt1, const Vector3& localPt2);
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/// Create a new potential contact manifold into the overlapping pair using current contact points
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void addContactPointsAsPotentialContactManifold();
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/// Reset the remaining contact points
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void resetContactPoints();
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};
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}
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#endif
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