implement Shape

engine/physics/Shape.cpp

@@ -0,0 +1,127 @@
+/*
+Copyright (c) 2013 Daniele Bartolini, Michele Rossi
+Copyright (c) 2012 Daniele Bartolini, Simone Boscaratto
+
+Permission is hereby granted, free of charge, to any person
+obtaining a copy of this software and associated documentation
+files (the "Software"), to deal in the Software without
+restriction, including without limitation the rights to use,
+copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "Shape.h"
+
+#include "Vector3.h"
+#include "Quaternion.h"
+#include "Matrix4x4.h"
+
+#include "PxShapeExt.h"
+#include "PxTransform.h"
+#include "PxMat44.h"
+
+namespace crown
+{
+
+//-----------------------------------------------------------------------------
+Shape::Shape(physx::PxShape* shape)
+	: m_shape(shape)
+{
+}
+
+//-----------------------------------------------------------------------------
+Shape::~Shape()
+{
+	//m_shape->release();
+}
+
+//-----------------------------------------------------------------------------
+Vector3	Shape::local_position() const
+{
+	physx::PxTransform t = m_shape->getLocalPose();
+
+	Vector3 pos(t.p.x, t.p.y, t.p.z);
+
+	return pos;
+}
+
+//-----------------------------------------------------------------------------
+Quaternion Shape::local_rotation() const
+{
+	physx::PxTransform t = m_shape->getLocalPose();
+
+	Vector3 pos(t.p.x, t.p.y, t.p.z);
+
+	Quaternion rot(t.q.x, t.q.y, t.q.z, t.q.w);
+
+	return rot;
+}
+
+//-----------------------------------------------------------------------------
+Matrix4x4 Shape::local_pose() const
+{
+	physx::PxTransform t = m_shape->getLocalPose();
+
+	Vector3 pos(t.p.x, t.p.y, t.p.z);
+	Quaternion rot(t.q.x, t.q.y, t.q.z, t.q.w);
+
+	Matrix4x4 m(rot, pos);
+	return m;
+}
+
+//-----------------------------------------------------------------------------
+Vector3	Shape::world_position() const
+{
+	physx::PxTransform t = physx::PxShapeExt::getGlobalPose(*m_shape);
+
+	Vector3 pos(t.p.x, t.p.y, t.p.z);
+
+	return pos;
+}
+
+//-----------------------------------------------------------------------------
+Quaternion Shape::world_rotation() const
+{
+	physx::PxTransform t = physx::PxShapeExt::getGlobalPose(*m_shape);
+
+	Quaternion rot(t.q.x, t.q.y, t.q.z, t.q.w);
+
+	return rot;
+}
+
+//-----------------------------------------------------------------------------
+Matrix4x4 Shape::world_pose() const
+{
+	physx::PxTransform t = physx::PxShapeExt::getGlobalPose(*m_shape);
+
+	Vector3 pos(t.p.x, t.p.y, t.p.z);
+	Quaternion rot(t.q.x, t.q.y, t.q.z, t.q.w);
+
+	Matrix4x4 m(rot, pos);
+	return m;
+}
+
+//-----------------------------------------------------------------------------
+void Shape::set_local_pose(const Matrix4x4& pose)
+{
+	physx::PxMat44 m(const_cast<physx::PxReal*>(pose.to_float_ptr()));
+
+	physx::PxTransform t(m);
+	m_shape->setLocalPose(t);
+}
+
+} // namespace crown

engine/physics/Shape.h

@@ -0,0 +1,60 @@
+/*
+Copyright (c) 2013 Daniele Bartolini, Michele Rossi
+Copyright (c) 2012 Daniele Bartolini, Simone Boscaratto
+
+Permission is hereby granted, free of charge, to any person
+obtaining a copy of this software and associated documentation
+files (the "Software"), to deal in the Software without
+restriction, including without limitation the rights to use,
+copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#pragma once
+
+#include "PxShape.h"
+
+namespace crown
+{
+
+class Vector3;
+class Quaternion;
+class Matrix4x4;
+
+struct Shape
+{
+				Shape(physx::PxShape* shape);
+				~Shape();
+
+	Vector3		local_position() const;
+	Quaternion	local_rotation() const;
+	Matrix4x4	local_pose() const;
+
+	Vector3		world_position() const;
+	Quaternion	world_rotation() const;
+	Matrix4x4 	world_pose() const;
+
+	void		set_local_position(const Vector3& position);
+	void		set_local_rotation(const Quaternion& rotation);
+	void		set_local_pose(const Matrix4x4& pose);
+
+public:
+
+	physx::PxShape* m_shape;
+};
+
+} // namespace crown