forked from bartvdbraak/blender
158 lines
3.7 KiB
C++
158 lines
3.7 KiB
C++
/*
|
|
* SOLID - Software Library for Interference Detection
|
|
*
|
|
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
|
|
*
|
|
* This library may be distributed under the terms of the Q Public License
|
|
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
|
|
* LICENSE.QPL included in the packaging of this file.
|
|
*
|
|
* This library may be distributed and/or modified under the terms of the
|
|
* GNU General Public License (GPL) version 2 as published by the Free Software
|
|
* Foundation and appearing in the file LICENSE.GPL included in the
|
|
* packaging of this file.
|
|
*
|
|
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
|
|
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
|
|
*
|
|
* Commercial use or any other use of this library not covered by either
|
|
* the QPL or the GPL requires an additional license from Dtecta.
|
|
* Please contact info@dtecta.com for enquiries about the terms of commercial
|
|
* use of this library.
|
|
*/
|
|
|
|
#ifndef DT_OBJECT_H
|
|
#define DT_OBJECT_H
|
|
|
|
#include <vector>
|
|
|
|
#include "SOLID.h"
|
|
#include "SOLID_broad.h"
|
|
|
|
#include "MT_Transform.h"
|
|
#include "MT_Quaternion.h"
|
|
#include "MT_BBox.h"
|
|
#include "DT_Shape.h"
|
|
|
|
class DT_Convex;
|
|
|
|
class DT_Object {
|
|
public:
|
|
DT_Object(void *client_object, const DT_Shape& shape) :
|
|
m_client_object(client_object),
|
|
m_shape(shape),
|
|
m_margin(MT_Scalar(0.0))
|
|
{
|
|
m_xform.setIdentity();
|
|
setBBox();
|
|
}
|
|
|
|
void setMargin(MT_Scalar margin)
|
|
{
|
|
m_margin = margin;
|
|
setBBox();
|
|
}
|
|
|
|
void setScaling(const MT_Vector3& scaling)
|
|
{
|
|
m_xform.scale(scaling);
|
|
setBBox();
|
|
}
|
|
|
|
void setPosition(const MT_Point3& pos)
|
|
{
|
|
m_xform.setOrigin(pos);
|
|
setBBox();
|
|
}
|
|
|
|
void setOrientation(const MT_Quaternion& orn)
|
|
{
|
|
m_xform.setRotation(orn);
|
|
setBBox();
|
|
}
|
|
|
|
void setMatrix(const float *m)
|
|
{
|
|
m_xform.setValue(m);
|
|
assert(m_xform.getBasis().determinant() != MT_Scalar(0.0));
|
|
setBBox();
|
|
}
|
|
|
|
void setMatrix(const double *m)
|
|
{
|
|
m_xform.setValue(m);
|
|
assert(m_xform.getBasis().determinant() != MT_Scalar(0.0));
|
|
setBBox();
|
|
}
|
|
|
|
void getMatrix(float *m) const
|
|
{
|
|
m_xform.getValue(m);
|
|
}
|
|
|
|
void getMatrix(double *m) const
|
|
{
|
|
m_xform.getValue(m);
|
|
}
|
|
|
|
void setBBox();
|
|
|
|
const MT_BBox& getBBox() const { return m_bbox; }
|
|
|
|
DT_ResponseClass getResponseClass() const { return m_responseClass; }
|
|
|
|
void setResponseClass(DT_ResponseClass responseClass)
|
|
{
|
|
m_responseClass = responseClass;
|
|
}
|
|
|
|
DT_ShapeType getType() const { return m_shape.getType(); }
|
|
|
|
void *getClientObject() const { return m_client_object; }
|
|
|
|
bool ray_cast(const MT_Point3& source, const MT_Point3& target,
|
|
MT_Scalar& param, MT_Vector3& normal) const;
|
|
|
|
void addProxy(BP_ProxyHandle proxy) { m_proxies.push_back(proxy); }
|
|
|
|
void removeProxy(BP_ProxyHandle proxy)
|
|
{
|
|
T_ProxyList::iterator it = std::find(m_proxies.begin(), m_proxies.end(), proxy);
|
|
if (it != m_proxies.end()) {
|
|
m_proxies.erase(it);
|
|
}
|
|
}
|
|
|
|
|
|
friend bool intersect(const DT_Object&, const DT_Object&, MT_Vector3& v);
|
|
|
|
friend bool common_point(const DT_Object&, const DT_Object&, MT_Vector3&,
|
|
MT_Point3&, MT_Point3&);
|
|
|
|
friend bool penetration_depth(const DT_Object&, const DT_Object&,
|
|
MT_Vector3&, MT_Point3&, MT_Point3&);
|
|
|
|
friend MT_Scalar closest_points(const DT_Object&, const DT_Object&,
|
|
MT_Point3&, MT_Point3&);
|
|
|
|
private:
|
|
typedef std::vector<BP_ProxyHandle> T_ProxyList;
|
|
|
|
void *m_client_object;
|
|
DT_ResponseClass m_responseClass;
|
|
const DT_Shape& m_shape;
|
|
MT_Scalar m_margin;
|
|
MT_Transform m_xform;
|
|
T_ProxyList m_proxies;
|
|
MT_BBox m_bbox;
|
|
};
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|