74 lines
2.5 KiB
C++
74 lines
2.5 KiB
C++
/** @file
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* @author Daniel Chappuis
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* @copyright 2010-2016 Daniel Chappuis
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* @license BSD 3 clauses (see license file)
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*/
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// Libraries
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#include <ephysics/collision/ProxyShape.h>
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using namespace reactphysics3d;
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// Constructor
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/**
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* @param body Pointer to the parent body
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* @param shape Pointer to the collision shape
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* @param transform Transformation from collision shape local-space to body local-space
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* @param mass Mass of the collision shape (in kilograms)
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*/
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ProxyShape::ProxyShape(CollisionBody* body, CollisionShape* shape, const Transform& transform, float mass)
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:mBody(body), mCollisionShape(shape), mLocalToBodyTransform(transform), mMass(mass),
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mNext(NULL), mBroadPhaseID(-1), mCachedCollisionData(NULL), mUserData(NULL),
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mCollisionCategoryBits(0x0001), mCollideWithMaskBits(0xFFFF) {
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}
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// Destructor
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ProxyShape::~ProxyShape() {
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// Release the cached collision data memory
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if (mCachedCollisionData != NULL) {
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free(mCachedCollisionData);
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}
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}
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// Return true if a point is inside the collision shape
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/**
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* @param worldPoint Point to test in world-space coordinates
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* @return True if the point is inside the collision shape
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*/
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bool ProxyShape::testPointInside(const Vector3& worldPoint) {
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const Transform localToWorld = mBody->getTransform() * mLocalToBodyTransform;
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const Vector3 localPoint = localToWorld.getInverse() * worldPoint;
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return mCollisionShape->testPointInside(localPoint, this);
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}
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// Raycast method with feedback information
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/**
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* @param ray Ray to use for the raycasting
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* @param[out] raycastInfo Result of the raycasting that is valid only if the
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* methods returned true
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* @return True if the ray hit the collision shape
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*/
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bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) {
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// If the corresponding body is not active, it cannot be hit by rays
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if (!mBody->isActive()) return false;
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// Convert the ray int32_to the local-space of the collision shape
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const Transform localToWorldTransform = getLocalToWorldTransform();
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const Transform worldToLocalTransform = localToWorldTransform.getInverse();
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Ray rayLocal(worldToLocalTransform * ray.point1,
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worldToLocalTransform * ray.point2,
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ray.maxFraction);
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bool isHit = mCollisionShape->raycast(rayLocal, raycastInfo, this);
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// Convert the raycast info int32_to world-space
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raycastInfo.worldPoint = localToWorldTransform * raycastInfo.worldPoint;
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raycastInfo.worldNormal = localToWorldTransform.getOrientation() * raycastInfo.worldNormal;
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raycastInfo.worldNormal.normalize();
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return isHit;
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}
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