81 lines
3.9 KiB
C++
81 lines
3.9 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2020 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_VS_CONVEX_POLYHEDRON_ALGORITHM_H
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#define REACTPHYSICS3D_CAPSULE_VS_CONVEX_POLYHEDRON_ALGORITHM_H
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// Libraries
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#include <reactphysics3d/collision/narrowphase/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 CapsuleVsConvexPolyhedronAlgorithm
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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 capsule and a convex polyhedron. The capsule is basically
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* a line segment with a margin around it. First we run the GJK algorithm.
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* If GJK reports separation, we are done. If the objects overlap inside the
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* capsule margin (radius), it will also report contact points and normal.
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* However, if GJK report penetration of the capsule inner segment within
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* the polyhedron, we run the SAT algorithm to get the contact points and
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* 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 CapsuleVsConvexPolyhedronAlgorithm : 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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CapsuleVsConvexPolyhedronAlgorithm() = default;
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/// Destructor
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virtual ~CapsuleVsConvexPolyhedronAlgorithm() override = default;
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/// Deleted copy-constructor
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CapsuleVsConvexPolyhedronAlgorithm(const CapsuleVsConvexPolyhedronAlgorithm& algorithm) = delete;
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/// Deleted assignment operator
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CapsuleVsConvexPolyhedronAlgorithm& operator=(const CapsuleVsConvexPolyhedronAlgorithm& algorithm) = delete;
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/// Compute the narrow-phase collision detection between a capsule and a polyhedron
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bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, size_t batchStartIndex,
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size_t batchNbItems, bool clipWithPreviousAxisIfStillColliding,
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MemoryAllocator& memoryAllocator);
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};
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}
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#endif
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