dmech.shape source code

1 /*
2 Copyright (c) 2014-2017 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.memory;
32 import dlib.math.vector;
33 import dlib.math.matrix;
34 import dlib.math.transformation;
35 import dlib.geometry.aabb;
36 import dlib.geometry.sphere;
37 
38 import dmech.geometry;
39 
40 /*
41  * ShapeComponent is a proxy object between RigidBody and Geometry.
42  * It stores non-geometric information such as mass contribution,
43  * position in body space and a unique identifier for indexing in
44  * contact cache.
45  * One Geometry can be shared between multiple ShapeComponents.
46  */
47 
48 class ShapeComponent: Freeable
49 {
50     Geometry geometry; // geometry
51     Vector3f centroid; // position in body space
52     float mass;        // mass contribution
53     uint id = 0;       // global identifier
54 
55     Matrix4x4f _transformation;
56 
57     bool locked = false;
58 
59     bool active = true;
60     bool solve = true;
61     bool raycastable = true;
62     int numCollisions = 0;
63 
64     @property
65     {
66         Matrix4x4f transformation()
67         {
68             while(locked) {}
69             return _transformation;
70         }
71 
72         void transformation(Matrix4x4f m)
73         {
74             locked = true;
75             _transformation = m;
76             locked = false;
77         }
78     }
79 
80     this(Geometry g, Vector3f c, float m)
81     {
82         geometry = g;
83         centroid = c;
84         mass = m;
85 
86         _transformation = Matrix4x4f.identity;
87     }
88 
89     // position in world space
90     @property Vector3f position()
91     {
92         return _transformation.translation;
93     }
94 
95     @property AABB boundingBox()
96     {
97         return geometry.boundingBox(
98             _transformation.translation);
99     }
100 
101     @property Sphere boundingSphere()
102     {
103         AABB aabb = geometry.boundingBox(
104             _transformation.translation);
105         return Sphere(aabb.center, aabb.size.length);
106     }
107 
108     Vector3f supportPointGlobal(Vector3f dir)
109     {
110         Vector3f result;
111         Matrix4x4f* m = &_transformation;
112 
113         result.x = ((dir.x * m.a11) + (dir.y * m.a21)) + (dir.z * m.a31);
114         result.y = ((dir.x * m.a12) + (dir.y * m.a22)) + (dir.z * m.a32);
115         result.z = ((dir.x * m.a13) + (dir.y * m.a23)) + (dir.z * m.a33);
116 
117         result = geometry.supportPoint(result);
118 
119         float x = ((result.x * m.a11) + (result.y * m.a12)) + (result.z * m.a13);
120         float y = ((result.x * m.a21) + (result.y * m.a22)) + (result.z * m.a23);
121         float z = ((result.x * m.a31) + (result.y * m.a32)) + (result.z * m.a33);
122 
123         result.x = m.a14 + x;
124         result.y = m.a24 + y;
125         result.z = m.a34 + z;
126 
127         return result;
128     }
129 
130     void free()
131     {
132         Delete(this);
133     }
134 }