276 lines
8.5 KiB
C++
276 lines
8.5 KiB
C++
// Copyright (C) 2017 Jérôme Leclercq
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// This file is part of the "Nazara Engine - Physics 3D 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/Prerequisites.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/Core/SparsePtr.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 PrimitiveList;
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class PhysWorld3D;
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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 Physics3D;
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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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virtual void ForEachPolygon(const std::function<void(const float* vertices, std::size_t vertexCount)>& callback) const;
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NewtonCollision* GetHandle(PhysWorld3D* world) const;
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virtual ColliderType3D 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(PhysWorld3D* 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<PhysWorld3D*, NewtonCollision*> m_handles;
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static Collider3DLibrary::LibraryMap s_library;
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};
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class BoxCollider3D;
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using BoxCollider3DConstRef = ObjectRef<const BoxCollider3D>;
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using BoxCollider3DRef = ObjectRef<BoxCollider3D>;
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class NAZARA_PHYSICS3D_API BoxCollider3D : public Collider3D
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{
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public:
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BoxCollider3D(const Vector3f& lengths, const Matrix4f& transformMatrix = Matrix4f::Identity());
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BoxCollider3D(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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ColliderType3D GetType() const override;
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template<typename... Args> static BoxCollider3DRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* 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 CapsuleCollider3D;
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using CapsuleCollider3DConstRef = ObjectRef<const CapsuleCollider3D>;
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using CapsuleCollider3DRef = ObjectRef<CapsuleCollider3D>;
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class NAZARA_PHYSICS3D_API CapsuleCollider3D : public Collider3D
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{
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public:
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CapsuleCollider3D(float length, float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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CapsuleCollider3D(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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ColliderType3D GetType() const override;
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template<typename... Args> static CapsuleCollider3DRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* 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 CompoundCollider3D;
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using CompoundCollider3DConstRef = ObjectRef<const CompoundCollider3D>;
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using CompoundCollider3DRef = ObjectRef<CompoundCollider3D>;
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class NAZARA_PHYSICS3D_API CompoundCollider3D : public Collider3D
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{
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public:
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CompoundCollider3D(std::vector<Collider3DRef> geoms);
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const std::vector<Collider3DRef>& GetGeoms() const;
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ColliderType3D GetType() const override;
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template<typename... Args> static CompoundCollider3DRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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std::vector<Collider3DRef> m_geoms;
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};
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class ConeCollider3D;
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using ConeCollider3DConstRef = ObjectRef<const ConeCollider3D>;
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using ConeCollider3DRef = ObjectRef<ConeCollider3D>;
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class NAZARA_PHYSICS3D_API ConeCollider3D : public Collider3D
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{
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public:
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ConeCollider3D(float length, float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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ConeCollider3D(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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ColliderType3D GetType() const override;
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template<typename... Args> static ConeCollider3DRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* 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 ConvexCollider3D;
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using ConvexCollider3DConstRef = ObjectRef<const ConvexCollider3D>;
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using ConvexCollider3DRef = ObjectRef<ConvexCollider3D>;
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class NAZARA_PHYSICS3D_API ConvexCollider3D : public Collider3D
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{
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public:
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ConvexCollider3D(SparsePtr<const Vector3f> vertices, unsigned int vertexCount, float tolerance = 0.002f, const Matrix4f& transformMatrix = Matrix4f::Identity());
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ConvexCollider3D(SparsePtr<const Vector3f> vertices, unsigned int vertexCount, float tolerance, const Vector3f& translation, const Quaternionf& rotation = Quaternionf::Identity());
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ColliderType3D GetType() const override;
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template<typename... Args> static ConvexCollider3DRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* 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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};
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class CylinderCollider3D;
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using CylinderCollider3DConstRef = ObjectRef<const CylinderCollider3D>;
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using CylinderCollider3DRef = ObjectRef<CylinderCollider3D>;
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class NAZARA_PHYSICS3D_API CylinderCollider3D : public Collider3D
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{
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public:
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CylinderCollider3D(float length, float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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CylinderCollider3D(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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ColliderType3D GetType() const override;
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template<typename... Args> static CylinderCollider3DRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* 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 NullCollider3D;
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using NullCollider3DConstRef = ObjectRef<const NullCollider3D>;
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using NullCollider3DRef = ObjectRef<NullCollider3D>;
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class NAZARA_PHYSICS3D_API NullCollider3D : public Collider3D
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{
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public:
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NullCollider3D();
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void ComputeInertialMatrix(Vector3f* inertia, Vector3f* center) const override;
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ColliderType3D GetType() const override;
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template<typename... Args> static NullCollider3DRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* world) const override;
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};
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class SphereCollider3D;
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using SphereCollider3DConstRef = ObjectRef<const SphereCollider3D>;
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using SphereCollider3DRef = ObjectRef<SphereCollider3D>;
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class NAZARA_PHYSICS3D_API SphereCollider3D : public Collider3D
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{
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public:
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SphereCollider3D(float radius, const Matrix4f& transformMatrix = Matrix4f::Identity());
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SphereCollider3D(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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ColliderType3D GetType() const override;
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template<typename... Args> static SphereCollider3DRef New(Args&&... args);
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private:
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NewtonCollision* CreateHandle(PhysWorld3D* 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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