////  PhysicsEntity.cpp//  libraries/physics/src////  Created by Andrew Meadows 2014.06.11//  Copyright 2014 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "PhysicsEntity.h" #include "PlaneShape.h"#include "Shape.h"#include "ShapeCollider.h"#include "SphereShape.h" PhysicsEntity::PhysicsEntity() :     _translation(0.0f),     _rotation(),     _boundingRadius(0.0f),     _shapesAreDirty(true),    _enableShapes(false) {} PhysicsEntity::~PhysicsEntity() {} void PhysicsEntity::setTranslation(const glm::vec3& translation) {    if (_translation != translation) {        _shapesAreDirty = !_shapes.isEmpty();        _translation = translation;    }} void PhysicsEntity::setRotation(const glm::quat& rotation) {    if (_rotation != rotation) {        _shapesAreDirty = !_shapes.isEmpty();        _rotation = rotation;    }}    void PhysicsEntity::setShapeBackPointers() {    for (int i = 0; i < _shapes.size(); i++) {        Shape* shape = _shapes[i];        if (shape) {            shape->setEntity(this);        }    }} void PhysicsEntity::setEnableShapes(bool enable) {    if (enable != _enableShapes) {        clearShapes();        _enableShapes = enable;        if (_enableShapes) {            buildShapes();        }    }}    void PhysicsEntity::clearShapes() {    for (int i = 0; i < _shapes.size(); ++i) {        delete _shapes[i];    }    _shapes.clear();} bool PhysicsEntity::findRayIntersection(RayIntersectionInfo& intersection) const {    return ShapeCollider::findRayIntersection(_shapes, intersection);} bool PhysicsEntity::findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions) {    bool collided = false;    int numTheirShapes = shapes.size();    for (int i = 0; i < numTheirShapes; ++i) {        const Shape* theirShape = shapes[i];        if (!theirShape) {            continue;        }        int numOurShapes = _shapes.size();        for (int j = 0; j < numOurShapes; ++j) {            const Shape* ourShape = _shapes.at(j);            if (ourShape && ShapeCollider::collideShapes(theirShape, ourShape, collisions)) {                collided = true;            }        }    }    return collided;} bool PhysicsEntity::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius, CollisionList& collisions) {    bool collided = false;    SphereShape sphere(sphereRadius, sphereCenter);    for (int i = 0; i < _shapes.size(); i++) {        Shape* shape = _shapes[i];        if (!shape) {            continue;        }        if (ShapeCollider::collideShapes(&sphere, shape, collisions)) {            CollisionInfo* collision = collisions.getLastCollision();            collision->_data = (void*)(this);            collision->_intData = i;            collided = true;        }    }    return collided;} bool PhysicsEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {    bool collided = false;    PlaneShape planeShape(plane);    for (int i = 0; i < _shapes.size(); i++) {        if (_shapes.at(i) && ShapeCollider::collideShapes(&planeShape, _shapes.at(i), collisions)) {            CollisionInfo* collision = collisions.getLastCollision();            collision->_data = (void*)(this);            collision->_intData = i;            collided = true;        }    }    return collided;} // -----------------------------------------------------------// TODO: enforce this maximum when shapes are actually built.  The gotcha here is // that the Model class (derived from PhysicsEntity) expects numShapes == numJoints, // so we have to modify that code to be safe.const int MAX_SHAPES_PER_ENTITY = 256; // the first 256 prime numbersconst int primes[256] = {      2,    3,    5,    7,   11,   13,   17,   19,   23,   29,     31,   37,   41,   43,   47,   53,   59,   61,   67,   71,     73,   79,   83,   89,   97,  101,  103,  107,  109,  113,    127,  131,  137,  139,  149,  151,  157,  163,  167,  173,    179,  181,  191,  193,  197,  199,  211,  223,  227,  229,    233,  239,  241,  251,  257,  263,  269,  271,  277,  281,    283,  293,  307,  311,  313,  317,  331,  337,  347,  349,    353,  359,  367,  373,  379,  383,  389,  397,  401,  409,    419,  421,  431,  433,  439,  443,  449,  457,  461,  463,    467,  479,  487,  491,  499,  503,  509,  521,  523,  541,    547,  557,  563,  569,  571,  577,  587,  593,  599,  601,    607,  613,  617,  619,  631,  641,  643,  647,  653,  659,    661,  673,  677,  683,  691,  701,  709,  719,  727,  733,    739,  743,  751,  757,  761,  769,  773,  787,  797,  809,    811,  821,  823,  827,  829,  839,  853,  857,  859,  863,    877,  881,  883,  887,  907,  911,  919,  929,  937,  941,    947,  953,  967,  971,  977,  983,  991,  997, 1009, 1013,   1019, 1021, 1031, 1033, 1039, 1049, 1051, 1061, 1063, 1069,   1087, 1091, 1093, 1097, 1103, 1109, 1117, 1123, 1129, 1151,   1153, 1163, 1171, 1181, 1187, 1193, 1201, 1213, 1217, 1223,   1229, 1231, 1237, 1249, 1259, 1277, 1279, 1283, 1289, 1291,   1297, 1301, 1303, 1307, 1319, 1321, 1327, 1361, 1367, 1373,   1381, 1399, 1409, 1423, 1427, 1429, 1433, 1439, 1447, 1451,   1453, 1459, 1471, 1481, 1483, 1487, 1489, 1493, 1499, 1511,   1523, 1531, 1543, 1549, 1553, 1559, 1567, 1571, 1579, 1583,   1597, 1601, 1607, 1609, 1613, 1619 }; void PhysicsEntity::disableCollisions(int shapeIndexA, int shapeIndexB) {    if (shapeIndexA < MAX_SHAPES_PER_ENTITY && shapeIndexB < MAX_SHAPES_PER_ENTITY) {        _disabledCollisions.insert(primes[shapeIndexA] * primes[shapeIndexB]);    }} bool PhysicsEntity::collisionsAreEnabled(int shapeIndexA, int shapeIndexB) const {    if (shapeIndexA < MAX_SHAPES_PER_ENTITY && shapeIndexB < MAX_SHAPES_PER_ENTITY) {        return !_disabledCollisions.contains(primes[shapeIndexA] * primes[shapeIndexB]);    }    return false;}