107 lines
4.3 KiB
C++
107 lines
4.3 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2015 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_CONVEX_SHAPE_H
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#define REACTPHYSICS3D_CONVEX_SHAPE_H
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// Libraries
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#include "CollisionShape.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class ConvexShape
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/**
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* This abstract class represents a convex 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 ConvexShape : public CollisionShape {
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protected :
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// -------------------- Attributes -------------------- //
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/// Margin used for the GJK collision detection algorithm
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decimal mMargin;
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// -------------------- Methods -------------------- //
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/// Private copy-constructor
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ConvexShape(const ConvexShape& shape);
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/// Private assignment operator
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ConvexShape& operator=(const ConvexShape& shape);
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// Return a local support point in a given direction with the object margin
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Vector3 getLocalSupportPointWithMargin(const Vector3& direction,
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void** cachedCollisionData) const;
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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,
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void** cachedCollisionData) const=0;
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/// Return true if a point is inside the collision shape
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virtual bool testPointInside(const Vector3& worldPoint, ProxyShape* proxyShape) const=0;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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ConvexShape(CollisionShapeType type, decimal margin);
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/// Destructor
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virtual ~ConvexShape();
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/// Return the current object margin
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decimal getMargin() const;
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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;
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// -------------------- Friendship -------------------- //
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friend class GJKAlgorithm;
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friend class EPAAlgorithm;
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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 ConvexShape::isConvex() const {
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return true;
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}
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// Return the current collision shape margin
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/**
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* @return The margin (in meters) around the collision shape
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*/
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inline decimal ConvexShape::getMargin() const {
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return mMargin;
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}
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}
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#endif
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