forked from bartvdbraak/blender
80 lines
2.2 KiB
C++
80 lines
2.2 KiB
C++
/*
|
|
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
|
|
*
|
|
* Permission to use, copy, modify, distribute and sell this software
|
|
* and its documentation for any purpose is hereby granted without fee,
|
|
* provided that the above copyright notice appear in all copies.
|
|
* Erwin Coumans makes no representations about the suitability
|
|
* of this software for any purpose.
|
|
* It is provided "as is" without express or implied warranty.
|
|
*/
|
|
#ifndef COLLISION_SHAPE_H
|
|
#define COLLISION_SHAPE_H
|
|
|
|
#include "SimdTransform.h"
|
|
#include "SimdVector3.h"
|
|
#include <SimdMatrix3x3.h>
|
|
#include "SimdPoint3.h"
|
|
#include "BroadphaseCollision/BroadphaseProxy.h" //for the shape types
|
|
|
|
///CollisionShape provides generic interface for collidable objects
|
|
class CollisionShape
|
|
{
|
|
|
|
public:
|
|
|
|
CollisionShape()
|
|
:m_tempDebug(0)
|
|
{
|
|
}
|
|
virtual ~CollisionShape()
|
|
{
|
|
}
|
|
|
|
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const =0;
|
|
|
|
virtual void GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const;
|
|
|
|
virtual float GetAngularMotionDisc() const;
|
|
|
|
virtual int GetShapeType() const=0;
|
|
|
|
///CalculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
|
|
///result is conservative
|
|
void CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax);
|
|
|
|
bool IsPolyhedral() const
|
|
{
|
|
return (GetShapeType() < IMPLICIT_CONVEX_SHAPES_START_HERE);
|
|
}
|
|
|
|
bool IsConvex() const
|
|
{
|
|
return (GetShapeType() < CONCAVE_SHAPES_START_HERE);
|
|
}
|
|
bool IsConcave() const
|
|
{
|
|
return (GetShapeType() > CONCAVE_SHAPES_START_HERE);
|
|
}
|
|
|
|
|
|
virtual void setLocalScaling(const SimdVector3& scaling) =0;
|
|
virtual const SimdVector3& getLocalScaling() const =0;
|
|
|
|
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) = 0;
|
|
|
|
//debugging support
|
|
virtual char* GetName()const =0 ;
|
|
const char* GetExtraDebugInfo() const { return m_tempDebug;}
|
|
void SetExtraDebugInfo(const char* extraDebugInfo) { m_tempDebug = extraDebugInfo;}
|
|
const char * m_tempDebug;
|
|
//endif debugging support
|
|
|
|
virtual void SetMargin(float margin) = 0;
|
|
virtual float GetMargin() const = 0;
|
|
|
|
};
|
|
|
|
#endif //COLLISION_SHAPE_H
|
|
|