💿🐜 Antkeeper source code
https://antkeeper.com
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102 lines
2.8 KiB
102 lines
2.8 KiB
/*
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* Copyright (C) 2023 Christopher J. Howard
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*
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* This file is part of Antkeeper source code.
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*
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* Antkeeper source code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper source code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef ANTKEEPER_PHYSICS_MESH_COLLIDER_HPP
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#define ANTKEEPER_PHYSICS_MESH_COLLIDER_HPP
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#include <engine/physics/kinematics/collider.hpp>
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#include <engine/geom/brep/brep-mesh.hpp>
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#include <engine/geom/bvh/bvh.hpp>
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#include <engine/math/vector.hpp>
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#include <engine/geom/primitives/ray.hpp>
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#include <engine/math/transform.hpp>
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#include <memory>
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#include <optional>
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namespace physics {
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/**
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* Mesh collision object.
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*/
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class mesh_collider: public collider
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{
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public:
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/// Collision mesh type.
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using mesh_type = geom::brep_mesh;
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/// Bounding volume hierarchy type.
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using bvh_type = geom::bvh;
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[[nodiscard]] inline constexpr collider_type type() const noexcept override
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{
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return collider_type::mesh;
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}
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/**
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* Constructs a mesh collider from a mesh.
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*
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* @param mesh Collision mesh.
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*
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* @warning @p mesh must contain the math::fvec3 vertex attribute "position".
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* @warning @p mesh must be a triangle mesh.
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*/
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explicit mesh_collider(std::shared_ptr<mesh_type> mesh);
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/// Constructs an empty mesh collider.
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constexpr mesh_collider() noexcept = default;
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/**
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* Sets the collider's mesh.
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*
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* @param mesh Collision mesh.
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*
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* @warning @p mesh must contain the math::fvec3 vertex attribute "position".
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* @warning @p mesh must be a triangle mesh.
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*/
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void set_mesh(std::shared_ptr<mesh_type> mesh);
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/// Returns the collision mesh.
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[[nodiscard]] inline constexpr const std::shared_ptr<mesh_type>& get_mesh() const noexcept
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{
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return m_mesh;
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}
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/// Returns the BVH of the collision mesh faces.
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[[nodiscard]] inline constexpr const bvh_type& get_bvh() const noexcept
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{
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return m_bvh;
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}
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/// Rebuilds the BVH of the collision mesh faces.
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void rebuild_bvh();
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/**
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*
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*/
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[[nodiscard]] std::optional<std::tuple<float, std::uint32_t>> intersection(const math::transform<float>& mesh_transform, const geom::ray<float, 3>& ray) const;
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private:
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std::shared_ptr<mesh_type> m_mesh;
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const geom::brep_attribute<math::fvec3>* m_vertex_positions{};
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bvh_type m_bvh;
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};
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} // namespace physics
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#endif // ANTKEEPER_PHYSICS_MESH_COLLIDER_HPP
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