forked from hertog/godot-module-template
162 lines
9.8 KiB
C++
162 lines
9.8 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
|
|
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
|
|
// SPDX-License-Identifier: MIT
|
|
|
|
#pragma once
|
|
|
|
#include <Jolt/Physics/Collision/Shape/DecoratedShape.h>
|
|
#include <Jolt/Physics/Collision/Shape/ScaleHelpers.h>
|
|
|
|
JPH_NAMESPACE_BEGIN
|
|
|
|
class CollideShapeSettings;
|
|
|
|
/// Class that constructs a RotatedTranslatedShape
|
|
class JPH_EXPORT RotatedTranslatedShapeSettings final : public DecoratedShapeSettings
|
|
{
|
|
JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, RotatedTranslatedShapeSettings)
|
|
|
|
public:
|
|
/// Constructor
|
|
RotatedTranslatedShapeSettings() = default;
|
|
|
|
/// Construct with shape settings, can be serialized.
|
|
RotatedTranslatedShapeSettings(Vec3Arg inPosition, QuatArg inRotation, const ShapeSettings *inShape) : DecoratedShapeSettings(inShape), mPosition(inPosition), mRotation(inRotation) { }
|
|
|
|
/// Variant that uses a concrete shape, which means this object cannot be serialized.
|
|
RotatedTranslatedShapeSettings(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape): DecoratedShapeSettings(inShape), mPosition(inPosition), mRotation(inRotation) { }
|
|
|
|
// See: ShapeSettings
|
|
virtual ShapeResult Create() const override;
|
|
|
|
Vec3 mPosition; ///< Position of the sub shape
|
|
Quat mRotation; ///< Rotation of the sub shape
|
|
};
|
|
|
|
/// A rotated translated shape will rotate and translate a child shape.
|
|
/// Shifts the child object so that it is centered around the center of mass.
|
|
class JPH_EXPORT RotatedTranslatedShape final : public DecoratedShape
|
|
{
|
|
public:
|
|
JPH_OVERRIDE_NEW_DELETE
|
|
|
|
/// Constructor
|
|
RotatedTranslatedShape() : DecoratedShape(EShapeSubType::RotatedTranslated) { }
|
|
RotatedTranslatedShape(const RotatedTranslatedShapeSettings &inSettings, ShapeResult &outResult);
|
|
RotatedTranslatedShape(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape);
|
|
|
|
/// Access the rotation that is applied to the inner shape
|
|
Quat GetRotation() const { return mRotation; }
|
|
|
|
/// Access the translation that has been applied to the inner shape
|
|
Vec3 GetPosition() const { return mCenterOfMass - mRotation * mInnerShape->GetCenterOfMass(); }
|
|
|
|
// 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 mInnerShape->GetInnerRadius(); }
|
|
|
|
// See Shape::GetMassProperties
|
|
virtual MassProperties GetMassProperties() const override;
|
|
|
|
// See Shape::GetSubShapeTransformedShape
|
|
virtual TransformedShape GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) 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 Shape::GetSubmergedVolume
|
|
virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) 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;
|
|
|
|
// See Shape::DrawGetSupportFunction
|
|
virtual void DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
|
|
|
|
// See Shape::DrawGetSupportingFace
|
|
virtual void DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
|
|
#endif // JPH_DEBUG_RENDERER
|
|
|
|
// See Shape::CastRay
|
|
virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
|
|
virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
|
|
|
|
// See: Shape::CollidePoint
|
|
virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
|
|
|
|
// See: Shape::CollideSoftBodyVertices
|
|
virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
|
|
|
|
// See Shape::CollectTransformedShapes
|
|
virtual void CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
|
|
|
|
// See Shape::TransformShape
|
|
virtual void TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
|
|
|
|
// See Shape::GetTrianglesStart
|
|
virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); }
|
|
|
|
// See Shape::GetTrianglesNext
|
|
virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); return 0; }
|
|
|
|
// 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 mInnerShape->GetVolume(); }
|
|
|
|
// See Shape::IsValidScale
|
|
virtual bool IsValidScale(Vec3Arg inScale) const override;
|
|
|
|
// See Shape::MakeScaleValid
|
|
virtual Vec3 MakeScaleValid(Vec3Arg inScale) const override;
|
|
|
|
/// Transform the scale to the local space of the child shape
|
|
inline Vec3 TransformScale(Vec3Arg inScale) const
|
|
{
|
|
// We don't need to transform uniform scale or if the rotation is identity
|
|
if (mIsRotationIdentity || ScaleHelpers::IsUniformScale(inScale))
|
|
return inScale;
|
|
|
|
return ScaleHelpers::RotateScale(mRotation, inScale);
|
|
}
|
|
|
|
// Register shape functions with the registry
|
|
static void sRegister();
|
|
|
|
protected:
|
|
// See: Shape::RestoreBinaryState
|
|
virtual void RestoreBinaryState(StreamIn &inStream) override;
|
|
|
|
private:
|
|
// Helper functions called by CollisionDispatch
|
|
static void sCollideRotatedTranslatedVsShape(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
|
|
static void sCollideShapeVsRotatedTranslated(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
|
|
static void sCollideRotatedTranslatedVsRotatedTranslated(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
|
|
static void sCastRotatedTranslatedVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
|
|
static void sCastShapeVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
|
|
static void sCastRotatedTranslatedVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
|
|
|
|
bool mIsRotationIdentity; ///< If mRotation is close to identity (put here because it falls in padding bytes)
|
|
Vec3 mCenterOfMass; ///< Position of the center of mass
|
|
Quat mRotation; ///< Rotation of the child shape
|
|
};
|
|
|
|
JPH_NAMESPACE_END
|