// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics) // SPDX-FileCopyrightText: 2021 Jorrit Rouwe // SPDX-License-Identifier: MIT #pragma once #include #ifdef JPH_DEBUG_RENDERER #include #endif // JPH_DEBUG_RENDERER JPH_NAMESPACE_BEGIN /// Class that constructs a TaperedCapsuleShape class JPH_EXPORT TaperedCapsuleShapeSettings final : public ConvexShapeSettings { JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TaperedCapsuleShapeSettings) public: /// Default constructor for deserialization TaperedCapsuleShapeSettings() = default; /// Create a tapered capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfTaperedCylinder, 0) with radius inBottomRadius and the other at (0, inHalfHeightOfTaperedCylinder, 0) with radius inTopRadius TaperedCapsuleShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, const PhysicsMaterial *inMaterial = nullptr); /// Check if the settings are valid bool IsValid() const { return mTopRadius > 0.0f && mBottomRadius > 0.0f && mHalfHeightOfTaperedCylinder >= 0.0f; } /// Checks if the settings of this tapered capsule make this shape a sphere bool IsSphere() const; // See: ShapeSettings virtual ShapeResult Create() const override; float mHalfHeightOfTaperedCylinder = 0.0f; float mTopRadius = 0.0f; float mBottomRadius = 0.0f; }; /// A capsule with different top and bottom radii class JPH_EXPORT TaperedCapsuleShape final : public ConvexShape { public: JPH_OVERRIDE_NEW_DELETE /// Constructor TaperedCapsuleShape() : ConvexShape(EShapeSubType::TaperedCapsule) { } TaperedCapsuleShape(const TaperedCapsuleShapeSettings &inSettings, ShapeResult &outResult); /// Get top radius of the tapered capsule inline float GetTopRadius() const { return mTopRadius; } /// Get bottom radius of the tapered capsule inline float GetBottomRadius() const { return mBottomRadius; } /// Get half height between the top and bottom sphere center inline float GetHalfHeight() const { return 0.5f * (mTopCenter - mBottomCenter); } // See Shape::GetCenterOfMass virtual Vec3 GetCenterOfMass() const override { return mCenterOfMass; } // See Shape::GetLocalBounds virtual AABox GetLocalBounds() const override; // See Shape::GetWorldSpaceBounds virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override; using Shape::GetWorldSpaceBounds; // See Shape::GetInnerRadius virtual float GetInnerRadius() const override { return min(mTopRadius, mBottomRadius); } // See Shape::GetMassProperties virtual MassProperties GetMassProperties() const override; // See Shape::GetSurfaceNormal virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override; // See Shape::GetSupportingFace virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override; // See ConvexShape::GetSupportFunction virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override; // See: Shape::CollideSoftBodyVertices virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override; #ifdef JPH_DEBUG_RENDERER // See Shape::Draw virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override; #endif // JPH_DEBUG_RENDERER // See Shape virtual void SaveBinaryState(StreamOut &inStream) const override; // See Shape::GetStats virtual Stats GetStats() const override { return Stats(sizeof(*this), 0); } // See Shape::GetVolume virtual float GetVolume() const override { return GetLocalBounds().GetVolume(); } // Volume is approximate! // See Shape::IsValidScale virtual bool IsValidScale(Vec3Arg inScale) const override; // See Shape::MakeScaleValid virtual Vec3 MakeScaleValid(Vec3Arg inScale) const override; // Register shape functions with the registry static void sRegister(); protected: // See: Shape::RestoreBinaryState virtual void RestoreBinaryState(StreamIn &inStream) override; private: // Class for GetSupportFunction class TaperedCapsule; /// Returns box that approximates the inertia AABox GetInertiaApproximation() const; Vec3 mCenterOfMass = Vec3::sZero(); float mTopRadius = 0.0f; float mBottomRadius = 0.0f; float mTopCenter = 0.0f; float mBottomCenter = 0.0f; float mConvexRadius = 0.0f; float mSinAlpha = 0.0f; float mTanAlpha = 0.0f; #ifdef JPH_DEBUG_RENDERER mutable DebugRenderer::GeometryRef mGeometry; #endif // JPH_DEBUG_RENDERER }; JPH_NAMESPACE_END