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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef COLLISION_SHAPE_H
#define COLLISION_SHAPE_H
#include "SimdTransform.h"
#include "SimdVector3.h"
#include <SimdMatrix3x3.h>
#include "SimdPoint3.h"
#include "BroadphaseCollision/BroadphaseProxy.h" //for the shape types
///CollisionShape provides generic interface for collidable objects
class CollisionShape
{
public:
CollisionShape()
:m_tempDebug(0)
{
}
virtual ~CollisionShape()
{
}
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const =0;
virtual void GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const;
virtual float GetAngularMotionDisc() const;
virtual int GetShapeType() const=0;
///CalculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
///result is conservative
void CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax);
bool IsPolyhedral() const
{
return (GetShapeType() < IMPLICIT_CONVEX_SHAPES_START_HERE);
}
bool IsConvex() const
{
return (GetShapeType() < CONCAVE_SHAPES_START_HERE);
}
bool IsConcave() const
{
return (GetShapeType() > CONCAVE_SHAPES_START_HERE);
}
virtual void setLocalScaling(const SimdVector3& scaling) =0;
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) = 0;
//debugging support
virtual char* GetName()const =0 ;
const char* GetExtraDebugInfo() const { return m_tempDebug;}
void SetExtraDebugInfo(const char* extraDebugInfo) { m_tempDebug = extraDebugInfo;}
const char * m_tempDebug;
//endif debugging support
};
#endif //COLLISION_SHAPE_H
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