/**
* @param collisionShape The collision shape you want to add to the body
* @param transform The transformation of the collision shape that transforms the
* local-space of the collision shape into the local-space of the body
* @param mass Mass (in kilograms) of the collision shape you want to add
* @return A pointer to the proxy shape that has been created to link the body to
* the new collision shape you have added.
*/
ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape,
const Transform& transform,
decimal mass) {
// Create a new proxy collision shape to attach the collision shape to the body
ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
sizeof(ProxyShape))) ProxyShape(this, collisionShape,
transform, mass, mWorld.mMemoryManager);
#ifdef IS_PROFILING_ACTIVE
// Set the profiler
proxyShape->setProfiler(mProfiler);
#endif
#ifdef IS_LOGGING_ACTIVE
// Set the logger
proxyShape->setLogger(mLogger);
#endif
// Add it to the list of proxy collision shapes of the body
if (mProxyCollisionShapes == nullptr) {
mProxyCollisionShapes = proxyShape;
}
else {
proxyShape->mNext = mProxyCollisionShapes;
mProxyCollisionShapes = proxyShape;
}
// Compute the world-space AABB of the new collision shape
AABB aabb;
collisionShape->computeAABB(aabb, mTransform * transform);
// Notify the collision detection about this new collision shape
mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb);
mNbCollisionShapes++;
// Recompute the center of mass, total mass and inertia tensor of the body with the new
// collision shape
recomputeMassInformation();
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mID) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " added to body");
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
"ProxyShape " + std::to_string(proxyShape->getBroadPhaseId()) + ": collisionShape=" +
proxyShape->getCollisionShape()->to_string());
// Return a pointer to the proxy collision shape
return proxyShape;
}
// Update the broad-phase state for this body (because it has moved for instance)
void RigidBody::updateBroadPhaseState() const {
RP3D_PROFILE("RigidBody::updateBroadPhaseState()", mProfiler);
DynamicsWorld& world = static_cast<DynamicsWorld&>(mWorld);
const Vector3 displacement = world.mTimeStep * mLinearVelocity;
// For all the proxy collision shapes of the body
for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) {
// If the proxy-shape shape is still part of the broad-phase
if (shape->getBroadPhaseId() != -1) {
// Recompute the world-space AABB of the collision shape
AABB aabb;
shape->getCollisionShape()->computeAABB(aabb, mTransform * shape->getLocalToBodyTransform());
// Update the broad-phase state for the proxy collision shape
mWorld.mCollisionDetection.updateProxyCollisionShape(shape, aabb, displacement);
}
}
}