160 lines
6.0 KiB
C++
160 lines
6.0 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
|
* Copyright (c) 2010-2016 Daniel Chappuis *
|
|
*********************************************************************************
|
|
* *
|
|
* This software is provided 'as-is', without any express or implied warranty. *
|
|
* In no event will the authors be held liable for any damages arising from the *
|
|
* use of this software. *
|
|
* *
|
|
* Permission is granted to anyone to use this software for any purpose, *
|
|
* including commercial applications, and to alter it and redistribute it *
|
|
* freely, subject to the following restrictions: *
|
|
* *
|
|
* 1. The origin of this software must not be misrepresented; you must not claim *
|
|
* that you wrote the original software. If you use this software in a *
|
|
* product, an acknowledgment in the product documentation would be *
|
|
* appreciated but is not required. *
|
|
* *
|
|
* 2. Altered source versions must be plainly marked as such, and must not be *
|
|
* misrepresented as being the original software. *
|
|
* *
|
|
* 3. This notice may not be removed or altered from any source distribution. *
|
|
* *
|
|
********************************************************************************/
|
|
|
|
#ifndef REACTPHYSICS3D_CONCAVE_SHAPE_H
|
|
#define REACTPHYSICS3D_CONCAVE_SHAPE_H
|
|
|
|
// Libraries
|
|
#include <ephysics/collision/shapes/CollisionShape.h>
|
|
#include <ephysics/collision/shapes/TriangleShape.h>
|
|
|
|
// ReactPhysics3D namespace
|
|
namespace reactphysics3d {
|
|
|
|
// Class TriangleCallback
|
|
/**
|
|
* This class 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 Vector3* trianglePoints)=0;
|
|
|
|
};
|
|
|
|
|
|
// Class ConcaveShape
|
|
/**
|
|
* 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 {
|
|
|
|
protected :
|
|
|
|
// -------------------- Attributes -------------------- //
|
|
|
|
/// True if the smooth mesh collision algorithm is enabled
|
|
bool m_isSmoothMeshCollisionEnabled;
|
|
|
|
// Margin use for collision detection for each triangle
|
|
decimal m_triangleMargin;
|
|
|
|
/// Raycast test type for the triangle (front, back, front-back)
|
|
TriangleRaycastSide m_raycastTestType;
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
/// Private copy-constructor
|
|
ConcaveShape(const ConcaveShape& shape);
|
|
|
|
/// Private assignment operator
|
|
ConcaveShape& operator=(const ConcaveShape& shape);
|
|
|
|
/// Return true if a point is inside the collision shape
|
|
virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const;
|
|
|
|
public :
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
/// Constructor
|
|
ConcaveShape(CollisionShapeType type);
|
|
|
|
/// Destructor
|
|
virtual ~ConcaveShape();
|
|
|
|
/// Return the triangle margin
|
|
decimal getTriangleMargin() const;
|
|
|
|
/// Return the raycast test type (front, back, front-back)
|
|
TriangleRaycastSide getRaycastTestType() const;
|
|
|
|
// Set the raycast test type (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;
|
|
|
|
/// 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;
|
|
|
|
/// Enable/disable the smooth mesh collision algorithm
|
|
void setIsSmoothMeshCollisionEnabled(bool isEnabled);
|
|
};
|
|
|
|
// Return the triangle margin
|
|
inline decimal ConcaveShape::getTriangleMargin() const {
|
|
return m_triangleMargin;
|
|
}
|
|
|
|
/// Return true if the collision shape is convex, false if it is concave
|
|
inline bool ConcaveShape::isConvex() const {
|
|
return false;
|
|
}
|
|
|
|
// Return true if a point is inside the collision shape
|
|
inline bool ConcaveShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const {
|
|
return false;
|
|
}
|
|
|
|
// Return true if the smooth mesh collision is enabled
|
|
inline bool ConcaveShape::getIsSmoothMeshCollisionEnabled() const {
|
|
return m_isSmoothMeshCollisionEnabled;
|
|
}
|
|
|
|
// Enable/disable the smooth mesh collision algorithm
|
|
/// Smooth mesh collision is used to avoid collisions against some internal edges
|
|
/// of the triangle mesh. If it is enabled, collsions with the mesh will be smoother
|
|
/// but collisions computation is a bit more expensive.
|
|
inline void ConcaveShape::setIsSmoothMeshCollisionEnabled(bool isEnabled) {
|
|
m_isSmoothMeshCollisionEnabled = isEnabled;
|
|
}
|
|
|
|
// Return the raycast test type (front, back, front-back)
|
|
inline TriangleRaycastSide ConcaveShape::getRaycastTestType() const {
|
|
return m_raycastTestType;
|
|
}
|
|
|
|
// Set the raycast test type (front, back, front-back)
|
|
/**
|
|
* @param testType Raycast test type for the triangle (front, back, front-back)
|
|
*/
|
|
inline void ConcaveShape::setRaycastTestType(TriangleRaycastSide testType) {
|
|
m_raycastTestType = testType;
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|