forked from hertog/godot-module-template
144 lines
7.6 KiB
C++
144 lines
7.6 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Physics/Collision/Shape/ConvexShape.h>
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JPH_NAMESPACE_BEGIN
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/// Class that constructs a TriangleShape
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class JPH_EXPORT TriangleShapeSettings final : public ConvexShapeSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TriangleShapeSettings)
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public:
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/// Default constructor for deserialization
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TriangleShapeSettings() = default;
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/// Create a triangle with points (inV1, inV2, inV3) (counter clockwise) and convex radius inConvexRadius.
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/// Note that the convex radius is currently only used for shape vs shape collision, for all other purposes the triangle is infinitely thin.
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TriangleShapeSettings(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3, float inConvexRadius = 0.0f, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mV1(inV1), mV2(inV2), mV3(inV3), mConvexRadius(inConvexRadius) { }
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// See: ShapeSettings
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virtual ShapeResult Create() const override;
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Vec3 mV1;
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Vec3 mV2;
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Vec3 mV3;
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float mConvexRadius = 0.0f;
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};
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/// A single triangle, not the most efficient way of creating a world filled with triangles but can be used as a query shape for example.
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class JPH_EXPORT TriangleShape final : public ConvexShape
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{
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public:
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JPH_OVERRIDE_NEW_DELETE
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/// Constructor
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TriangleShape() : ConvexShape(EShapeSubType::Triangle) { }
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TriangleShape(const TriangleShapeSettings &inSettings, ShapeResult &outResult);
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/// Create a triangle with points (inV1, inV2, inV3) (counter clockwise) and convex radius inConvexRadius.
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/// Note that the convex radius is currently only used for shape vs shape collision, for all other purposes the triangle is infinitely thin.
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TriangleShape(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3, float inConvexRadius = 0.0f, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Triangle, inMaterial), mV1(inV1), mV2(inV2), mV3(inV3), mConvexRadius(inConvexRadius) { JPH_ASSERT(inConvexRadius >= 0.0f); }
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/// Get the vertices of the triangle
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inline Vec3 GetVertex1() const { return mV1; }
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inline Vec3 GetVertex2() const { return mV2; }
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inline Vec3 GetVertex3() const { return mV3; }
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/// Convex radius
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float GetConvexRadius() const { return mConvexRadius; }
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// See Shape::GetLocalBounds
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virtual AABox GetLocalBounds() const override;
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// See Shape::GetWorldSpaceBounds
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virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
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using Shape::GetWorldSpaceBounds;
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// See Shape::GetInnerRadius
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virtual float GetInnerRadius() const override { return mConvexRadius; }
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// See Shape::GetMassProperties
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virtual MassProperties GetMassProperties() const override;
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// See Shape::GetSurfaceNormal
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virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
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// See Shape::GetSupportingFace
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virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
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// See ConvexShape::GetSupportFunction
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virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
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// See Shape::GetSubmergedVolume
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virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
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#ifdef JPH_DEBUG_RENDERER
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// See Shape::Draw
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virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
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#endif // JPH_DEBUG_RENDERER
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// See Shape::CastRay
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virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
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virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
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// See: Shape::CollidePoint
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virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
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// See: Shape::CollideSoftBodyVertices
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virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
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// See Shape::GetTrianglesStart
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virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
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// See Shape::GetTrianglesNext
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virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
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// See Shape
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virtual void SaveBinaryState(StreamOut &inStream) const override;
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// See Shape::GetStats
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virtual Stats GetStats() const override { return Stats(sizeof(*this), 1); }
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// See Shape::GetVolume
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virtual float GetVolume() const override { return 0; }
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// See Shape::IsValidScale
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virtual bool IsValidScale(Vec3Arg inScale) const override;
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// See Shape::MakeScaleValid
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virtual Vec3 MakeScaleValid(Vec3Arg inScale) const override;
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// Register shape functions with the registry
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static void sRegister();
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protected:
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// See: Shape::RestoreBinaryState
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virtual void RestoreBinaryState(StreamIn &inStream) override;
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private:
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// Helper functions called by CollisionDispatch
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static void sCollideConvexVsTriangle(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);
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static void sCollideSphereVsTriangle(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);
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static void sCastConvexVsTriangle(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
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static void sCastSphereVsTriangle(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
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// Context for GetTrianglesStart/Next
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class TSGetTrianglesContext;
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// Classes for GetSupportFunction
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class TriangleNoConvex;
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class TriangleWithConvex;
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Vec3 mV1;
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Vec3 mV2;
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Vec3 mV3;
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float mConvexRadius = 0.0f;
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};
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JPH_NAMESPACE_END
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