52 lines
1.7 KiB
C++
52 lines
1.7 KiB
C++
/** @file
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* Original ReactPhysics3D C++ library by Daniel Chappuis <http://www.reactphysics3d.com/> This code is re-licensed with permission from ReactPhysics3D author.
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* @author Daniel CHAPPUIS
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* @author Edouard DUPIN
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* @copyright 2010-2016, Daniel Chappuis
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* @copyright 2017, Edouard DUPIN
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* @license MPL v2.0 (see license file)
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*/
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#pragma once
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#include <ephysics/collision/shapes/CollisionShape.hpp>
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namespace ephysics {
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/**
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* @brief It represents a convex 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 ConvexShape: public CollisionShape {
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protected:
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float m_margin; //!< Margin used for the GJK collision detection algorithm
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/// Private copy-constructor
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ConvexShape(const ConvexShape& _shape) = delete;
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/// Private assignment operator
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ConvexShape& operator=(const ConvexShape& _shape) = delete;
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// Return a local support point in a given direction with the object margin
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virtual vec3 getLocalSupportPointWithMargin(const vec3& _direction, void** _cachedCollisionData) const;
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/// Return a local support point in a given direction without the object margin
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virtual vec3 getLocalSupportPointWithoutMargin(const vec3& _direction, void** _cachedCollisionData) const=0;
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bool testPointInside(const vec3& _worldPoint, ProxyShape* _proxyShape) const override = 0;
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public:
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/// Constructor
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ConvexShape(CollisionShapeType _type, float _margin);
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/// Destructor
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virtual ~ConvexShape();
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public:
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/**
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* @brief Get the current object margin
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* @return The margin (in meters) around the collision shape
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*/
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float getMargin() const {
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return m_margin;
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}
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virtual bool isConvex() const override {
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return true;
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}
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friend class GJKAlgorithm;
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friend class EPAAlgorithm;
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};
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}
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