BoundingVolume.cpp

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#include <tdme/engine/primitives/BoundingVolume.h>
 
#include <string>
 
#include <ext/reactphysics3d/src/body/CollisionBody.h>
#include <ext/reactphysics3d/src/collision/narrowphase/DefaultCollisionDispatch.h>
#include <ext/reactphysics3d/src/collision/narrowphase/NarrowPhaseAlgorithm.h>
#include <ext/reactphysics3d/src/collision/shapes/CollisionShape.h>
#include <ext/reactphysics3d/src/collision/CollisionCallback.h>
#include <ext/reactphysics3d/src/collision/NarrowPhaseInfo.h>
#include <ext/reactphysics3d/src/collision/ProxyShape.h>
#include <ext/reactphysics3d/src/constraint/ContactPoint.h>
#include <ext/reactphysics3d/src/engine/CollisionWorld.h>
#include <ext/reactphysics3d/src/engine/OverlappingPair.h>
#include <ext/reactphysics3d/src/mathematics/Transform.h>
#include <ext/reactphysics3d/src/memory/MemoryAllocator.h>
 
#include <tdme/tdme.h>
#include <tdme/engine/Transformations.h>
#include <tdme/math/Vector3.h>
 
using std::to_string;
 
using tdme::engine::physics::CollisionResponse;
using tdme::engine::primitives::BoundingVolume;
using tdme::engine::Transformations;
using tdme::math::Vector3;
 
BoundingVolume::~BoundingVolume() {
    if (collisionShape != nullptr) delete collisionShape;
}
 
void BoundingVolume::computeBoundingBox() {
    collisionShape->computeAABB(collisionShapeAABB, collisionShapeTransform * collisionShapeLocalTransform);
    boundingBoxTransformed = BoundingBox(
        Vector3(collisionShapeAABB.getMin().x, collisionShapeAABB.getMin().y, collisionShapeAABB.getMin().z),
        Vector3(collisionShapeAABB.getMax().x, collisionShapeAABB.getMax().y, collisionShapeAABB.getMax().z)
    );
    centerTransformed = boundingBoxTransformed.getCenter();
}
 
void BoundingVolume::fromTransformations(const Transformations& transformations) {
    //
    setScale(transformations.getScale());
 
    // set transform
    collisionShapeTransform.setPosition(
        reactphysics3d::Vector3(
            transformations.getTranslation().getX(),
            transformations.getTranslation().getY(),
            transformations.getTranslation().getZ()
        )
    );
    collisionShapeTransform.setOrientation(
        reactphysics3d::Quaternion(
            transformations.getRotationsQuaternion().getX(),
            transformations.getRotationsQuaternion().getY(),
            transformations.getRotationsQuaternion().getZ(),
            transformations.getRotationsQuaternion().getW()
        )
    );
 
    // compute bounding box
    computeBoundingBox();
}
 
const Vector3& BoundingVolume::getScale() {
    return scale;
}
 
const Vector3& BoundingVolume::getCenter() const {
    return center;
}
 
const Vector3& BoundingVolume::getCenterTransformed() const {
    return centerTransformed;
}
 
BoundingBox& BoundingVolume::getBoundingBoxTransformed() {
    return boundingBoxTransformed;
}