collider3.h

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// Copyright (c) 2018 Doyub Kim
//
// I am making my contributions/submissions to this project solely in my
// personal capacity and am not conveying any rights to any intellectual
// property of any third parties.
 
#ifndef INCLUDE_JET_COLLIDER3_H_
#define INCLUDE_JET_COLLIDER3_H_
 
#include <jet/surface3.h>
#include <functional>
 
namespace jet {
 
class Collider3 {
 public:
    typedef std::function<void(Collider3*, double, double)>
        OnBeginUpdateCallback;
 
    Collider3();
 
    virtual ~Collider3();
 
    virtual Vector3D velocityAt(const Vector3D& point) const = 0;
 
    void resolveCollision(
        double radius,
        double restitutionCoefficient,
        Vector3D* position,
        Vector3D* velocity);
 
    double frictionCoefficient() const;
 
    void setFrictionCoefficient(double newFrictionCoeffient);
 
    const Surface3Ptr& surface() const;
 
    void update(double currentTimeInSeconds, double timeIntervalInSeconds);
 
    void setOnBeginUpdateCallback(const OnBeginUpdateCallback& callback);
 
 protected:
    struct ColliderQueryResult final {
        double distance;
        Vector3D point;
        Vector3D normal;
        Vector3D velocity;
    };
 
    void setSurface(const Surface3Ptr& newSurface);
 
    void getClosestPoint(
        const Surface3Ptr& surface,
        const Vector3D& queryPoint,
        ColliderQueryResult* result) const;
 
    bool isPenetrating(
        const ColliderQueryResult& colliderPoint,
        const Vector3D& position,
        double radius);
 
 private:
    Surface3Ptr _surface;
    double _frictionCoeffient = 0.0;
    OnBeginUpdateCallback _onUpdateCallback;
};
 
typedef std::shared_ptr<Collider3> Collider3Ptr;
 
}  // namespace jet
 
#endif  // INCLUDE_JET_COLLIDER3_H_