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