us.ihmc.simulationconstructionset.physics.collision.simple.SimpleCollisionShape Maven / Gradle / Ivy

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Simulation Construction Set

There is a newer version: 0.25.2


package us.ihmc.simulationconstructionset.physics.collision.simple;

import us.ihmc.euclid.geometry.BoundingBox3D;
import us.ihmc.euclid.transform.RigidBodyTransform;
import us.ihmc.simulationconstructionset.physics.CollisionShape;
import us.ihmc.simulationconstructionset.physics.CollisionShapeDescription;

public class SimpleCollisionShape implements CollisionShape
{
   private final CollisionShapeDescription collisionShapeDescription;
   private final CollisionShapeDescription transformedCollisionShapeDescription;
   private final RigidBodyTransform transformToWorld = new RigidBodyTransform();

   private int groupMask = 0x00;
   private int collisionMask = 0x00;

   private boolean isGround = false;

   public SimpleCollisionShape(CollisionShapeDescription collisionShapeDescription)
   {
      this.collisionShapeDescription = collisionShapeDescription;
      transformedCollisionShapeDescription = collisionShapeDescription.copy();
   }

   @Override
   public boolean isGround()
   {
      return isGround;
   }

   @Override
   public void setIsGround(boolean isGround)
   {
      this.isGround = isGround;
   }

   @Override
   public CollisionShapeDescription getCollisionShapeDescription()
   {
      return collisionShapeDescription;
   }

   @Override
   public int getCollisionGroup()
   {
      return groupMask;
   }

   @Override
   public int getCollisionMask()
   {
      return collisionMask;
   }

   @Override
   public void setCollisionGroup(int groupMask)
   {
      this.groupMask = groupMask;
   }

   @Override
   public void setCollisionMask(int collisionMask)
   {
      this.collisionMask = collisionMask;
   }

   @Override
   public void getTransformToWorld(RigidBodyTransform transformToWorldToPack)
   {
      transformToWorldToPack.set(transformToWorld);
   }

   @Override
   public void setTransformToWorld(RigidBodyTransform transformToWorld)
   {
      this.transformToWorld.set(transformToWorld);
   }

   @Override
   public CollisionShapeDescription getTransformedCollisionShapeDescription()
   {
      return transformedCollisionShapeDescription;
   }

   @Override
   public void computeTransformedCollisionShape()
   {
      transformedCollisionShapeDescription.setFrom(collisionShapeDescription);
      getTransformToWorld(transformToWorld);
      transformedCollisionShapeDescription.applyTransform(transformToWorld);
   }

   @Override
   public void getBoundingBox(BoundingBox3D boundingBoxToPack)
   {
      transformedCollisionShapeDescription.getBoundingBox(boundingBoxToPack);
   }

}