274 lines
8.0 KiB
C++
274 lines
8.0 KiB
C++
// Copyright (C) 2015 Jérôme Leclercq
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// This file is part of the "Nazara Engine - Physics module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#pragma once
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#ifndef NAZARA_COLLIDER3D_HPP
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#define NAZARA_COLLIDER3D_HPP
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#include <Nazara/Prerequesites.hpp>
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#include <Nazara/Core/PrimitiveList.hpp>
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#include <Nazara/Core/ObjectLibrary.hpp>
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#include <Nazara/Core/ObjectRef.hpp>
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#include <Nazara/Core/RefCounted.hpp>
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#include <Nazara/Core/Signal.hpp>
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#include <Nazara/Math/Box.hpp>
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#include <Nazara/Math/Quaternion.hpp>
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#include <Nazara/Math/Vector3.hpp>
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#include <Nazara/Physics3D/Config.hpp>
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#include <Nazara/Physics3D/Enums.hpp>
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#include <unordered_map>
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class NewtonCollision;
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namespace Nz
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{
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///TODO: CollisionModifier
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///TODO: HeightfieldGeom
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///TODO: PlaneGeom ?
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///TODO: SceneGeom
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///TODO: TreeGeom
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class Collider3D;
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class PhysWorld;
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using Collider3DConstRef = ObjectRef<const Collider3D>;
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using Collider3DLibrary = ObjectLibrary<Collider3D>;
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using Collider3DRef = ObjectRef<Collider3D>;
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class NAZARA_PHYSICS3D_API Collider3D : public RefCounted
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{
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friend Collider3DLibrary;
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friend class Physics;
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public:
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Collider3D() = default;
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Collider3D(const Collider3D&) = delete;
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Collider3D(Collider3D&&) = delete;
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virtual ~Collider3D();
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Boxf ComputeAABB(const Vector3f& translation, const Quaternionf& rotation, const Vector3f& scale) const;
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virtual Boxf ComputeAABB(const Matrix4f& offsetMatrix = Matrix4f::Identity(), const Vector3f& scale = Vector3f::Unit()) const;
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virtual void ComputeInertialMatrix(Vector3f* inertia, Vector3f* center) const;
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virtual float ComputeVolume() const;
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NewtonCollision* GetHandle(PhysWorld* world) const;
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virtual GeomType GetType() const = 0;
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Collider3D& operator=(const Collider3D&) = delete;
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Collider3D& operator=(Collider3D&&) = delete;
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static Collider3DRef Build(const PrimitiveList& list);
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// Signals:
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NazaraSignal(OnColliderRelease, const Collider3D* /*collider*/);
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protected:
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virtual NewtonCollision* CreateHandle(PhysWorld* world) const = 0;
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static bool Initialize();
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static void Uninitialize();
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mutable std::unordered_map<PhysWorld*, NewtonCollision*> m_handles;
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static Collider3DLibrary::LibraryMap s_library;
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};
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class BoxGeom;
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using BoxGeomConstRef = ObjectRef<const BoxGeom>;
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using BoxGeomRef = ObjectRef<BoxGeom>;
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class NAZARA_PHYSICS3D_API BoxGeom : public Collider3D
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{
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public:
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BoxGeom(const Vector3f& lengths, const Matrix4f& transformMatrix = Matrix4f::Identity());
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BoxGeom(const Vector3f& lengths, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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Boxf ComputeAABB(const Matrix4f& offsetMatrix = Matrix4f::Identity(), const Vector3f& scale = Vector3f::Unit()) const override;
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float ComputeVolume() const override;
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Vector3f GetLengths() const;
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GeomType GetType() const override;
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template<typename... Args> static BoxGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld* world) const override;
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Matrix4f m_matrix;
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Vector3f m_lengths;
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};
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class CapsuleGeom;
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using CapsuleGeomConstRef = ObjectRef<const CapsuleGeom>;
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using CapsuleGeomRef = ObjectRef<CapsuleGeom>;
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class NAZARA_PHYSICS3D_API CapsuleGeom : public Collider3D
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{
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public:
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CapsuleGeom(float length, float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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CapsuleGeom(float length, float radius, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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float GetLength() const;
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float GetRadius() const;
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GeomType GetType() const override;
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template<typename... Args> static CapsuleGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld* world) const override;
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Matrix4f m_matrix;
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float m_length;
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float m_radius;
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};
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class CompoundGeom;
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using CompoundGeomConstRef = ObjectRef<const CompoundGeom>;
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using CompoundGeomRef = ObjectRef<CompoundGeom>;
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class NAZARA_PHYSICS3D_API CompoundGeom : public Collider3D
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{
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public:
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CompoundGeom(Collider3D** geoms, std::size_t geomCount);
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const std::vector<Collider3DRef>& GetGeoms() const;
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GeomType GetType() const override;
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template<typename... Args> static CompoundGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld* world) const override;
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std::vector<Collider3DRef> m_geoms;
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};
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class ConeGeom;
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using ConeGeomConstRef = ObjectRef<const ConeGeom>;
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using ConeGeomRef = ObjectRef<ConeGeom>;
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class NAZARA_PHYSICS3D_API ConeGeom : public Collider3D
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{
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public:
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ConeGeom(float length, float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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ConeGeom(float length, float radius, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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float GetLength() const;
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float GetRadius() const;
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GeomType GetType() const override;
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template<typename... Args> static ConeGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld* world) const override;
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Matrix4f m_matrix;
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float m_length;
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float m_radius;
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};
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class ConvexHullGeom;
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using ConvexHullGeomConstRef = ObjectRef<const ConvexHullGeom>;
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using ConvexHullGeomRef = ObjectRef<ConvexHullGeom>;
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class NAZARA_PHYSICS3D_API ConvexHullGeom : public Collider3D
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{
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public:
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ConvexHullGeom(const void* vertices, unsigned int vertexCount, unsigned int stride = sizeof(Vector3f), float tolerance = 0.002f, const Matrix4f& transformMatrix = Matrix4f::Identity());
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ConvexHullGeom(const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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GeomType GetType() const override;
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template<typename... Args> static ConvexHullGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld* world) const override;
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std::vector<Vector3f> m_vertices;
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Matrix4f m_matrix;
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float m_tolerance;
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unsigned int m_vertexStride;
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};
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class CylinderGeom;
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using CylinderGeomConstRef = ObjectRef<const CylinderGeom>;
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using CylinderGeomRef = ObjectRef<CylinderGeom>;
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class NAZARA_PHYSICS3D_API CylinderGeom : public Collider3D
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{
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public:
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CylinderGeom(float length, float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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CylinderGeom(float length, float radius, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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float GetLength() const;
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float GetRadius() const;
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GeomType GetType() const override;
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template<typename... Args> static CylinderGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld* world) const override;
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Matrix4f m_matrix;
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float m_length;
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float m_radius;
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};
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class NullGeom;
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using NullGeomConstRef = ObjectRef<const NullGeom>;
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using NullGeomRef = ObjectRef<NullGeom>;
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class NAZARA_PHYSICS3D_API NullGeom : public Collider3D
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{
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public:
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NullGeom();
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void ComputeInertialMatrix(Vector3f* inertia, Vector3f* center) const override;
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GeomType GetType() const override;
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template<typename... Args> static NullGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld* world) const override;
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};
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class SphereGeom;
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using SphereGeomConstRef = ObjectRef<const SphereGeom>;
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using SphereGeomRef = ObjectRef<SphereGeom>;
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class NAZARA_PHYSICS3D_API SphereGeom : public Collider3D
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{
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public:
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SphereGeom(float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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SphereGeom(float radius, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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Boxf ComputeAABB(const Matrix4f& offsetMatrix = Matrix4f::Identity(), const Vector3f& scale = Vector3f::Unit()) const override;
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float ComputeVolume() const override;
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float GetRadius() const;
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GeomType GetType() const override;
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template<typename... Args> static SphereGeomRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld* world) const override;
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Vector3f m_position;
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float m_radius;
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};
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}
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#include <Nazara/Physics3D/Collider3D.inl>
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#endif // NAZARA_COLLIDER3D_HPP
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