228 lines
7.8 KiB
C++
228 lines
7.8 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_COLLIDER_H
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#define REACTPHYSICS3D_COLLIDER_H
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// Libraries
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#include <reactphysics3d/body/CollisionBody.h>
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#include <reactphysics3d/collision/shapes/CollisionShape.h>
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#include <reactphysics3d/engine/Material.h>
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#include <reactphysics3d/utils/Logger.h>
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namespace reactphysics3d {
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// Declarations
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class MemoryManager;
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// Class Collider
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/**
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* A collider has a collision shape (box, sphere, capsule, ...) and is attached to a CollisionBody or
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* RigidBody. A body can have multiple colliders. The collider also have a mass value and a Material
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* with many physics parameters like friction or bounciness. When you create a body, you need to attach
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* at least one collider to it if you want that body to be able to collide in the physics world.
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*/
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class Collider {
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protected:
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// -------------------- Attributes -------------------- //
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/// Reference to the memory manager
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MemoryManager& mMemoryManager;
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/// Identifier of the entity in the ECS
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Entity mEntity;
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/// Pointer to the parent body
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CollisionBody* mBody;
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/// Pointer to user data
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void* mUserData;
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#ifdef IS_RP3D_PROFILING_ENABLED
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/// Pointer to the profiler
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Profiler* mProfiler;
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#endif
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// -------------------- Methods -------------------- //
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/// Notify the collider that the size of the collision shape has been
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/// changed by the user
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void setHasCollisionShapeChangedSize(bool hasCollisionShapeChangedSize);
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public:
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// -------------------- Methods -------------------- //
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/// Constructor
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Collider(Entity entity, CollisionBody* body, MemoryManager& memoryManager);
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/// Destructor
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virtual ~Collider();
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/// Deleted copy-constructor
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Collider(const Collider& collider) = delete;
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/// Deleted assignment operator
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Collider& operator=(const Collider& collider) = delete;
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/// Return the corresponding entity of the collider
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Entity getEntity() const;
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/// Return a pointer to the collision shape
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CollisionShape* getCollisionShape();
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/// Return a const pointer to the collision shape
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const CollisionShape* getCollisionShape() const;
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/// Return the parent body
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CollisionBody* getBody() const;
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/// Return a pointer to the user data attached to this body
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void* getUserData() const;
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/// Attach user data to this body
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void setUserData(void* userData);
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/// Return the local to parent body transform
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const Transform& getLocalToBodyTransform() const;
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/// Set the local to parent body transform
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void setLocalToBodyTransform(const Transform& transform);
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/// Return the local to world transform
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const Transform getLocalToWorldTransform() const;
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/// Return the AABB of the collider in world-space
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const AABB getWorldAABB() const;
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/// Test if the collider overlaps with a given AABB
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bool testAABBOverlap(const AABB& worldAABB) const;
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/// Return true if a point is inside the collision shape
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bool testPointInside(const Vector3& worldPoint);
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/// Raycast method with feedback information
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bool raycast(const Ray& ray, RaycastInfo& raycastInfo);
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/// Return the collision bits mask
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unsigned short getCollideWithMaskBits() const;
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/// Set the collision bits mask
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void setCollideWithMaskBits(unsigned short collideWithMaskBits);
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/// Return the collision category bits
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unsigned short getCollisionCategoryBits() const;
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/// Set the collision category bits
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void setCollisionCategoryBits(unsigned short collisionCategoryBits);
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/// Return the broad-phase id
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int getBroadPhaseId() const;
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/// Return a reference to the material properties of the collider
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Material& getMaterial();
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/// Set a new material for this collider
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void setMaterial(const Material& material);
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/// Return true if the collider is a trigger
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bool getIsTrigger() const;
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/// Set whether the collider is a trigger
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void setIsTrigger(bool isTrigger) const;
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#ifdef IS_RP3D_PROFILING_ENABLED
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/// Set the profiler
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void setProfiler(Profiler* profiler);
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#endif
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// -------------------- Friendship -------------------- //
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friend class OverlappingPair;
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friend class CollisionBody;
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friend class RigidBody;
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friend class BroadPhaseAlgorithm;
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friend class DynamicAABBTree;
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friend class CollisionDetectionSystem;
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friend class PhysicsWorld;
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friend class GJKAlgorithm;
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friend class ConvexMeshShape;
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friend class CollisionShape;
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friend class ContactManifoldSet;
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friend class MiddlePhaseTriangleCallback;
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};
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// Return the corresponding entity of the collider
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/**
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* @return The entity of the collider
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*/
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RP3D_FORCE_INLINE Entity Collider::getEntity() const {
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return mEntity;
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}
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// Return the parent body
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/**
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* @return Pointer to the parent body
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*/
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RP3D_FORCE_INLINE CollisionBody* Collider::getBody() const {
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return mBody;
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}
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// Return a pointer to the user data attached to this body
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/**
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* @return A pointer to the user data stored into the collider
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*/
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RP3D_FORCE_INLINE void* Collider::getUserData() const {
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return mUserData;
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}
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// Attach user data to this body
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/**
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* @param userData Pointer to the user data you want to store within the collider
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*/
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RP3D_FORCE_INLINE void Collider::setUserData(void* userData) {
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mUserData = userData;
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}
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/// Test if the collider overlaps with a given AABB
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/**
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* @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap
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* @return True if the given AABB overlaps with the AABB of the collision body
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*/
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RP3D_FORCE_INLINE bool Collider::testAABBOverlap(const AABB& worldAABB) const {
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return worldAABB.testCollision(getWorldAABB());
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}
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}
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#endif
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