120 lines
2.5 KiB
C++
120 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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#pragma once
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#include <ephysics/collision/narrowphase/EPA/TriangleEPA.h>
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// Libraries
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#include <cassert>
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Constants
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const uint32_t MAX_TRIANGLES = 200; // Maximum number of triangles
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// Class TriangleStore
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/**
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* This class stores several triangles of the polytope in the EPA algorithm.
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*/
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class TrianglesStore {
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private:
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// -------------------- Attributes -------------------- //
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/// Triangles
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TriangleEPA mTriangles[MAX_TRIANGLES];
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/// Number of triangles
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int32_t mNbTriangles;
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// -------------------- Methods -------------------- //
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/// Private copy-constructor
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TrianglesStore(const TrianglesStore& triangleStore);
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/// Private assignment operator
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TrianglesStore& operator=(const TrianglesStore& triangleStore);
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public:
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// -------------------- Methods -------------------- //
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/// Constructor
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TrianglesStore();
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/// Destructor
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~TrianglesStore();
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/// Clear all the storage
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void clear();
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/// Return the number of triangles
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int32_t getNbTriangles() const;
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/// Set the number of triangles
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void setNbTriangles(int32_t backup);
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/// Return the last triangle
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TriangleEPA& last();
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/// Create a new triangle
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TriangleEPA* newTriangle(const Vector3* vertices, uint32_t v0, uint32_t v1, uint32_t v2);
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/// Access operator
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TriangleEPA& operator[](int32_t i);
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};
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// Clear all the storage
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inline void TrianglesStore::clear() {
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mNbTriangles = 0;
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}
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// Return the number of triangles
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inline int32_t TrianglesStore::getNbTriangles() const {
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return mNbTriangles;
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}
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inline void TrianglesStore::setNbTriangles(int32_t backup) {
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mNbTriangles = backup;
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}
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// Return the last triangle
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inline TriangleEPA& TrianglesStore::last() {
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assert(mNbTriangles > 0);
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return mTriangles[mNbTriangles - 1];
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}
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// Create a new triangle
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inline TriangleEPA* TrianglesStore::newTriangle(const Vector3* vertices,
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uint32_t v0,uint32_t v1, uint32_t v2) {
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TriangleEPA* newTriangle = NULL;
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// If we have not reached the maximum number of triangles
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if (mNbTriangles != MAX_TRIANGLES) {
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newTriangle = &mTriangles[mNbTriangles++];
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new (newTriangle) TriangleEPA(v0, v1, v2);
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if (!newTriangle->computeClosestPoint(vertices)) {
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mNbTriangles--;
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newTriangle = NULL;
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}
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}
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// Return the new triangle
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return newTriangle;
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}
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// Access operator
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inline TriangleEPA& TrianglesStore::operator[](int32_t i) {
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return mTriangles[i];
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}
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}
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