581c0f232c
This is a direct copy from the CD-ROM contents except for the generated libraries for the Windows platform. If needed, I can add those later on. (Those take up over 800 kb). All files, including license files, documentation, examples and sources are committed.
158 lines
3.7 KiB
C++
Executable File
158 lines
3.7 KiB
C++
Executable File
/*
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* SOLID - Software Library for Interference Detection
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*
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* Copyright (C) 2001-2003 Dtecta. All rights reserved.
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*
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* This library may be distributed under the terms of the Q Public License
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* (QPL) as defined by Trolltech AS of Norway and appearing in the file
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* LICENSE.QPL included in the packaging of this file.
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*
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* This library may be distributed and/or modified under the terms of the
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* GNU General Public License (GPL) version 2 as published by the Free Software
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* Foundation and appearing in the file LICENSE.GPL included in the
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* packaging of this file.
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*
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* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Commercial use or any other use of this library not covered by either
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* the QPL or the GPL requires an additional license from Dtecta.
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* Please contact info@dtecta.com for enquiries about the terms of commercial
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* use of this library.
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*/
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#ifndef DT_OBJECT_H
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#define DT_OBJECT_H
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#include <vector>
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#include "SOLID.h"
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#include "SOLID_broad.h"
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#include "MT_Transform.h"
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#include "MT_Quaternion.h"
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#include "MT_BBox.h"
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#include "DT_Shape.h"
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class DT_Convex;
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class DT_Object {
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public:
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DT_Object(void *client_object, const DT_Shape& shape) :
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m_client_object(client_object),
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m_shape(shape),
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m_margin(MT_Scalar(0.0))
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{
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m_xform.setIdentity();
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setBBox();
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}
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void setMargin(MT_Scalar margin)
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{
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m_margin = margin;
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setBBox();
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}
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void setScaling(const MT_Vector3& scaling)
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{
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m_xform.scale(scaling);
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setBBox();
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}
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void setPosition(const MT_Point3& pos)
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{
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m_xform.setOrigin(pos);
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setBBox();
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}
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void setOrientation(const MT_Quaternion& orn)
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{
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m_xform.setRotation(orn);
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setBBox();
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}
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void setMatrix(const float *m)
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{
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m_xform.setValue(m);
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assert(m_xform.getBasis().determinant() != MT_Scalar(0.0));
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setBBox();
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}
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void setMatrix(const double *m)
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{
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m_xform.setValue(m);
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assert(m_xform.getBasis().determinant() != MT_Scalar(0.0));
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setBBox();
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}
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void getMatrix(float *m) const
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{
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m_xform.getValue(m);
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}
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void getMatrix(double *m) const
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{
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m_xform.getValue(m);
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}
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void setBBox();
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const MT_BBox& getBBox() const { return m_bbox; }
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DT_ResponseClass getResponseClass() const { return m_responseClass; }
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void setResponseClass(DT_ResponseClass responseClass)
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{
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m_responseClass = responseClass;
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}
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DT_ShapeType getType() const { return m_shape.getType(); }
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void *getClientObject() const { return m_client_object; }
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bool ray_cast(const MT_Point3& source, const MT_Point3& target,
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MT_Scalar& param, MT_Vector3& normal) const;
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void addProxy(BP_ProxyHandle proxy) { m_proxies.push_back(proxy); }
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void removeProxy(BP_ProxyHandle proxy)
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{
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T_ProxyList::iterator it = std::find(m_proxies.begin(), m_proxies.end(), proxy);
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if (it != m_proxies.end()) {
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m_proxies.erase(it);
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}
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}
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friend bool intersect(const DT_Object&, const DT_Object&, MT_Vector3& v);
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friend bool common_point(const DT_Object&, const DT_Object&, MT_Vector3&,
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MT_Point3&, MT_Point3&);
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friend bool penetration_depth(const DT_Object&, const DT_Object&,
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MT_Vector3&, MT_Point3&, MT_Point3&);
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friend MT_Scalar closest_points(const DT_Object&, const DT_Object&,
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MT_Point3&, MT_Point3&);
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private:
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typedef std::vector<BP_ProxyHandle> T_ProxyList;
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void *m_client_object;
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DT_ResponseClass m_responseClass;
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const DT_Shape& m_shape;
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MT_Scalar m_margin;
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MT_Transform m_xform;
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T_ProxyList m_proxies;
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MT_BBox m_bbox;
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};
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#endif
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