138 lines
3.9 KiB
C++
138 lines
3.9 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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// Libraries
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#include <ephysics/collision/shapes/CollisionShape.hpp>
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#include <ephysics/collision/shapes/TriangleShape.hpp>
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// ReactPhysics3D namespace
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namespace ephysics {
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// Class TriangleCallback
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/**
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* This class is used to encapsulate a callback method for
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* a single triangle of a ConcaveMesh.
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*/
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class TriangleCallback {
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public:
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virtual ~TriangleCallback() = default;
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/// Report a triangle
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virtual void testTriangle(const vec3* trianglePoints)=0;
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};
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// Class ConcaveShape
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/**
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* This abstract class represents a concave 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 ConcaveShape : public CollisionShape {
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protected :
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// -------------------- Attributes -------------------- //
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/// True if the smooth mesh collision algorithm is enabled
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bool m_isSmoothMeshCollisionEnabled;
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// Margin use for collision detection for each triangle
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float m_triangleMargin;
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/// Raycast test type for the triangle (front, back, front-back)
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TriangleRaycastSide m_raycastTestType;
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// -------------------- Methods -------------------- //
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/// Private copy-constructor
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ConcaveShape(const ConcaveShape& shape);
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/// Private assignment operator
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ConcaveShape& operator=(const ConcaveShape& shape);
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/// Return true if a point is inside the collision shape
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virtual bool testPointInside(const vec3& localPoint, ProxyShape* proxyShape) const;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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ConcaveShape(CollisionShapeType type);
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/// Destructor
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virtual ~ConcaveShape();
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/// Return the triangle margin
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float getTriangleMargin() const;
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/// Return the raycast test type (front, back, front-back)
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TriangleRaycastSide getRaycastTestType() const;
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// Set the raycast test type (front, back, front-back)
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void setRaycastTestType(TriangleRaycastSide testType);
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/// Return true if the collision shape is convex, false if it is concave
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virtual bool isConvex() const;
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/// Use a callback method on all triangles of the concave shape inside a given AABB
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virtual void testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const=0;
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/// Return true if the smooth mesh collision is enabled
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bool getIsSmoothMeshCollisionEnabled() const;
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/// Enable/disable the smooth mesh collision algorithm
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void setIsSmoothMeshCollisionEnabled(bool isEnabled);
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};
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// Return the triangle margin
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inline float ConcaveShape::getTriangleMargin() const {
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return m_triangleMargin;
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}
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/// Return true if the collision shape is convex, false if it is concave
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inline bool ConcaveShape::isConvex() const {
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return false;
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}
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// Return true if a point is inside the collision shape
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inline bool ConcaveShape::testPointInside(const vec3& localPoint, ProxyShape* proxyShape) const {
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return false;
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}
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// Return true if the smooth mesh collision is enabled
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inline bool ConcaveShape::getIsSmoothMeshCollisionEnabled() const {
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return m_isSmoothMeshCollisionEnabled;
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}
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// Enable/disable the smooth mesh collision algorithm
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/// Smooth mesh collision is used to avoid collisions against some int32_ternal edges
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/// of the triangle mesh. If it is enabled, collsions with the mesh will be smoother
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/// but collisions computation is a bit more expensive.
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inline void ConcaveShape::setIsSmoothMeshCollisionEnabled(bool isEnabled) {
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m_isSmoothMeshCollisionEnabled = isEnabled;
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}
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// Return the raycast test type (front, back, front-back)
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inline TriangleRaycastSide ConcaveShape::getRaycastTestType() const {
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return m_raycastTestType;
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}
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// Set the raycast test type (front, back, front-back)
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/**
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* @param testType Raycast test type for the triangle (front, back, front-back)
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*/
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inline void ConcaveShape::setRaycastTestType(TriangleRaycastSide testType) {
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m_raycastTestType = testType;
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}
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}
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