81 lines
3.8 KiB
C++
81 lines
3.8 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_SPHERE_VS_CONVEX_POLYHEDRON_ALGORITHM_H
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#define REACTPHYSICS3D_SPHERE_VS_CONVEX_POLYHEDRON_ALGORITHM_H
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// Libraries
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#include "NarrowPhaseAlgorithm.h"
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/// Namespace ReactPhysics3D
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namespace reactphysics3d {
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// Declarations
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class ContactPoint;
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class Body;
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// Class SphereVsConvexPolyhedronAlgorithm
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/**
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* This class is used to compute the narrow-phase collision detection
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* between a sphere and a convex polyhedron. The sphere is basically a
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* point with a margin around it. The idea of this method is to use
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* the GJK algorithm first. If GJK reports that the two objects are
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* separated, we are done. If GJK reports that the objects are overlapping
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* in the sphere margin, GJK will also report a contact point and a contact
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* normal. However, if GJK reports that the object are in deep penetration
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* (the center of the sphere is inside the polyhedron) we run the SAT
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* algorithm to get the contact point and contact normal.
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* This is based on the "Robust Contact Creation for Physics Simulation"
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* presentation by Dirk Gregorius.
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*/
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class SphereVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm {
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protected :
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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SphereVsConvexPolyhedronAlgorithm() = default;
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/// Destructor
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virtual ~SphereVsConvexPolyhedronAlgorithm() override = default;
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/// Deleted copy-constructor
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SphereVsConvexPolyhedronAlgorithm(const SphereVsConvexPolyhedronAlgorithm& algorithm) = delete;
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/// Deleted assignment operator
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SphereVsConvexPolyhedronAlgorithm& operator=(const SphereVsConvexPolyhedronAlgorithm& algorithm) = delete;
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/// Compute the narrow-phase collision detection between a sphere and a convex polyhedron
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virtual bool testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, MemoryAllocator& memoryAllocator) override;
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};
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}
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#endif
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