106 lines
4.4 KiB
C++
106 lines
4.4 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_CONVEX_POLYHEDRON_H
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#define REACTPHYSICS3D_CONVEX_POLYHEDRON_H
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// Libraries
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#include "ConvexShape.h"
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#include "collision/HalfEdgeStructure.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class ConvexPolyhedronShape
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/**
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* This abstract class represents a convex polyhedron 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 ConvexPolyhedronShape : public ConvexShape {
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protected :
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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ConvexPolyhedronShape(CollisionShapeName name);
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/// Destructor
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virtual ~ConvexPolyhedronShape() override = default;
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/// Deleted copy-constructor
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ConvexPolyhedronShape(const ConvexPolyhedronShape& shape) = delete;
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/// Deleted assignment operator
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ConvexPolyhedronShape& operator=(const ConvexPolyhedronShape& shape) = delete;
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/// Return the number of faces of the polyhedron
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virtual uint getNbFaces() const=0;
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/// Return a given face of the polyhedron
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virtual const HalfEdgeStructure::Face& getFace(uint faceIndex) const=0;
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/// Return the number of vertices of the polyhedron
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virtual uint getNbVertices() const=0;
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/// Return a given vertex of the polyhedron
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virtual HalfEdgeStructure::Vertex getVertex(uint vertexIndex) const=0;
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/// Return the position of a given vertex
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virtual Vector3 getVertexPosition(uint vertexIndex) const=0;
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/// Return the normal vector of a given face of the polyhedron
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virtual Vector3 getFaceNormal(uint faceIndex) const=0;
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/// Return the number of half-edges of the polyhedron
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virtual uint getNbHalfEdges() const=0;
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/// Return a given half-edge of the polyhedron
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virtual const HalfEdgeStructure::Edge& getHalfEdge(uint edgeIndex) const=0;
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/// Return true if the collision shape is a polyhedron
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virtual bool isPolyhedron() const override;
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/// Return the centroid of the polyhedron
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virtual Vector3 getCentroid() const=0;
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/// Find and return the index of the polyhedron face with the most anti-parallel face
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/// normal given a direction vector
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uint findMostAntiParallelFace(const Vector3& direction) const;
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};
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// Return true if the collision shape is a polyhedron
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inline bool ConvexPolyhedronShape::isPolyhedron() const {
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return true;
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}
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}
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#endif
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