ephysics/ephysics/collision/shapes/ConcaveShape.hpp

71 lines
2.8 KiB
C++

/** @file
* Original ReactPhysics3D C++ library by Daniel Chappuis <http://www.reactphysics3d.com/> This code is re-licensed with permission from ReactPhysics3D author.
* @author Daniel CHAPPUIS
* @author Edouard DUPIN
* @copyright 2010-2016, Daniel Chappuis
* @copyright 2017, Edouard DUPIN
* @license MPL v2.0 (see license file)
*/
#pragma once
#include <ephysics/collision/shapes/CollisionShape.hpp>
#include <ephysics/collision/shapes/TriangleShape.hpp>
namespace ephysics {
/**
* @brief It is used to encapsulate a callback method for
* a single triangle of a ConcaveMesh.
*/
class TriangleCallback {
public:
virtual ~TriangleCallback() = default;
/// Report a triangle
virtual void testTriangle(const vec3* _trianglePoints)=0;
};
/**
* @brief This abstract class represents a concave collision shape associated with a
* body that is used during the narrow-phase collision detection.
*/
class ConcaveShape : public CollisionShape {
public :
/// Constructor
ConcaveShape(CollisionShapeType _type);
/// DELETE copy-constructor
ConcaveShape(const ConcaveShape& _shape) = delete;
/// DELETE assignment operator
ConcaveShape& operator=(const ConcaveShape& _shape) = delete;
protected :
bool m_isSmoothMeshCollisionEnabled; //!< True if the smooth mesh collision algorithm is enabled
float m_triangleMargin; //!< Margin use for collision detection for each triangle
TriangleRaycastSide m_raycastTestType; //!< Raycast test type for the triangle (front, back, front-back)
bool testPointInside(const vec3& _localPoint, ProxyShape* _proxyShape) const override;
public:
/// Return the triangle margin
float getTriangleMargin() const;
/// Return the raycast test type (front, back, front-back)
TriangleRaycastSide getRaycastTestType() const;
/**
* @brief Set the raycast test type (front, back, front-back)
* @param testType Raycast test type for the triangle (front, back, front-back)
*/
void setRaycastTestType(TriangleRaycastSide _testType);
/// Return true if the collision shape is convex, false if it is concave
virtual bool isConvex() const override;
/// Use a callback method on all triangles of the concave shape inside a given AABB
virtual void testAllTriangles(TriangleCallback& _callback, const AABB& _localAABB) const=0;
/// Return true if the smooth mesh collision is enabled
bool getIsSmoothMeshCollisionEnabled() const;
/**
* @brief Enable/disable the smooth mesh collision algorithm
*
* Smooth mesh collision is used to avoid collisions against some int32_ternal edges of the triangle mesh.
* If it is enabled, collsions with the mesh will be smoother but collisions computation is a bit more expensive.
*/
void setIsSmoothMeshCollisionEnabled(bool _isEnabled);
};
}