dmech.shape source code

1 /*
2 Copyright (c) 2014-2018 Timur Gafarov
3 
4 Boost Software License - Version 1.0 - August 17th, 2003
5 
6 Permission is hereby granted, free of charge, to any person or organization
7 obtaining a copy of the software and accompanying documentation covered by
8 this license (the "Software") to use, reproduce, display, distribute,
9 execute, and transmit the Software, and to prepare derivative works of the
10 Software, and to permit third-parties to whom the Software is furnished to
11 do so, all subject to the following:
12 
13 The copyright notices in the Software and this entire statement, including
14 the above license grant, this restriction and the following disclaimer,
15 must be included in all copies of the Software, in whole or in part, and
16 all derivative works of the Software, unless such copies or derivative
17 works are solely in the form of machine-executable object code generated by
18 a source language processor.
19 
20 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
21 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
22 FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
23 SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
24 FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
25 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
26 DEALINGS IN THE SOFTWARE.
27 */
28 
29 module dmech.shape;
30 
31 import dlib.core.ownership;
32 import dlib.core.memory;
33 import dlib.math.vector;
34 import dlib.math.matrix;
35 import dlib.math.transformation;
36 import dlib.geometry.aabb;
37 import dlib.geometry.sphere;
38 
39 import dmech.world;
40 import dmech.geometry;
41 
42 /*
43  * ShapeComponent is a proxy object between RigidBody and Geometry.
44  * It stores non-geometric information such as mass contribution,
45  * position in body space and a unique identifier for indexing in
46  * contact cache.
47  * One Geometry can be shared between multiple ShapeComponents.
48  */
49 
50 class ShapeComponent: Owner
51 {
52     Geometry geometry; // geometry
53     Vector3f centroid; // position in body space
54     float mass;        // mass contribution
55     uint id = 0;       // global identifier
56 
57     Matrix4x4f _transformation;
58 
59     bool locked = false;
60 
61     bool active = true;
62     bool solve = true;
63     bool raycastable = true;
64     int numCollisions = 0;
65 
66     @property
67     {
68         Matrix4x4f transformation()
69         {
70             while(locked) {}
71             return _transformation;
72         }
73 
74         void transformation(Matrix4x4f m)
75         {
76             locked = true;
77             _transformation = m;
78             locked = false;
79         }
80     }
81 
82     this(PhysicsWorld world, Geometry g, Vector3f c, float m)
83     {
84         super(world);
85 
86         geometry = g;
87         centroid = c;
88         mass = m;
89 
90         _transformation = Matrix4x4f.identity;
91     }
92 
93     // position in world space
94     @property Vector3f position()
95     {
96         return _transformation.translation;
97     }
98 
99     @property AABB boundingBox()
100     {
101         return geometry.boundingBox(
102             _transformation.translation);
103     }
104 
105     @property Sphere boundingSphere()
106     {
107         AABB aabb = geometry.boundingBox(
108             _transformation.translation);
109         return Sphere(aabb.center, aabb.size.length);
110     }
111 
112     Vector3f supportPointGlobal(Vector3f dir)
113     {
114         Vector3f result;
115         Matrix4x4f* m = &_transformation;
116 
117         result.x = ((dir.x * m.a11) + (dir.y * m.a21)) + (dir.z * m.a31);
118         result.y = ((dir.x * m.a12) + (dir.y * m.a22)) + (dir.z * m.a32);
119         result.z = ((dir.x * m.a13) + (dir.y * m.a23)) + (dir.z * m.a33);
120 
121         result = geometry.supportPoint(result);
122 
123         float x = ((result.x * m.a11) + (result.y * m.a12)) + (result.z * m.a13);
124         float y = ((result.x * m.a21) + (result.y * m.a22)) + (result.z * m.a23);
125         float z = ((result.x * m.a31) + (result.y * m.a32)) + (result.z * m.a33);
126 
127         result.x = m.a14 + x;
128         result.y = m.a24 + y;
129         result.z = m.a34 + z;
130 
131         return result;
132     }
133 }