53 lines
2.3 KiB
C++
53 lines
2.3 KiB
C++
/** @file
|
|
* @author Daniel Chappuis
|
|
* @copyright 2010-2016 Daniel Chappuis
|
|
* @license BSD 3 clauses (see license file)
|
|
*/
|
|
#pragma once
|
|
|
|
#include <ephysics/collision/shapes/ConvexShape.hpp>
|
|
#include <ephysics/body/CollisionBody.hpp>
|
|
#include <ephysics/mathematics/mathematics.hpp>
|
|
|
|
namespace ephysics {
|
|
/**
|
|
* @brief This class represents a cone collision shape centered at the
|
|
* origin and alligned with the Y axis. The cone is defined
|
|
* by its height and by the radius of its base. The center of the
|
|
* cone is at the half of the height. The "transform" of the
|
|
* corresponding rigid body gives an orientation and a position
|
|
* to the cone. This collision shape uses an extra margin distance around
|
|
* it for collision detection purpose. The default margin is 4cm (if your
|
|
* units are meters, which is recommended). In case, you want to simulate small
|
|
* objects (smaller than the margin distance), you might want to reduce the margin
|
|
* by specifying your own margin distance using the "margin" parameter in the
|
|
* constructor of the cone shape. Otherwise, it is recommended to use the
|
|
* default margin distance by not using the "margin" parameter in the constructor.
|
|
*/
|
|
class ConeShape : public ConvexShape {
|
|
protected :
|
|
float m_radius; //!< Radius of the base
|
|
float m_halfHeight; //!< Half height of the cone
|
|
float m_sinTheta; //!< sine of the semi angle at the apex point
|
|
/// Private copy-constructor
|
|
ConeShape(const ConeShape& _shape) = delete;
|
|
/// Private assignment operator
|
|
ConeShape& operator=(const ConeShape& _shape) = delete;
|
|
virtual vec3 getLocalSupportPointWithoutMargin(const vec3& _direction, void** _cachedCollisionData) const override;
|
|
bool testPointInside(const vec3& _localPoint, ProxyShape* _proxyShape) const override;
|
|
bool raycast(const Ray& _ray, RaycastInfo& _raycastInfo, ProxyShape* _proxyShape) const override;
|
|
size_t getSizeInBytes() const override;
|
|
public :
|
|
/// Constructor
|
|
ConeShape(float _radius, float _height, float _margin = OBJECT_MARGIN);
|
|
/// Return the radius
|
|
float getRadius() const;
|
|
/// Return the height
|
|
float getHeight() const;
|
|
|
|
void setLocalScaling(const vec3& _scaling) override;
|
|
void getLocalBounds(vec3& _min, vec3& _max) const override;
|
|
void computeLocalInertiaTensor(etk::Matrix3x3& _tensor, float _mass) const override;
|
|
};
|
|
}
|