forked from hertog/godot-module-template
239 lines
11 KiB
C++
239 lines
11 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
|
|
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
|
|
// SPDX-License-Identifier: MIT
|
|
|
|
#include <Jolt/Jolt.h>
|
|
|
|
#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
|
|
#include <Jolt/Physics/Collision/Shape/ScaleHelpers.h>
|
|
#include <Jolt/Physics/Collision/RayCast.h>
|
|
#include <Jolt/Physics/Collision/ShapeCast.h>
|
|
#include <Jolt/Physics/Collision/TransformedShape.h>
|
|
#include <Jolt/Physics/Collision/CollisionDispatch.h>
|
|
#include <Jolt/ObjectStream/TypeDeclarations.h>
|
|
#include <Jolt/Core/StreamIn.h>
|
|
#include <Jolt/Core/StreamOut.h>
|
|
|
|
JPH_NAMESPACE_BEGIN
|
|
|
|
JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(ScaledShapeSettings)
|
|
{
|
|
JPH_ADD_BASE_CLASS(ScaledShapeSettings, DecoratedShapeSettings)
|
|
|
|
JPH_ADD_ATTRIBUTE(ScaledShapeSettings, mScale)
|
|
}
|
|
|
|
ShapeSettings::ShapeResult ScaledShapeSettings::Create() const
|
|
{
|
|
if (mCachedResult.IsEmpty())
|
|
Ref<Shape> shape = new ScaledShape(*this, mCachedResult);
|
|
return mCachedResult;
|
|
}
|
|
|
|
ScaledShape::ScaledShape(const ScaledShapeSettings &inSettings, ShapeResult &outResult) :
|
|
DecoratedShape(EShapeSubType::Scaled, inSettings, outResult),
|
|
mScale(inSettings.mScale)
|
|
{
|
|
if (outResult.HasError())
|
|
return;
|
|
|
|
if (ScaleHelpers::IsZeroScale(inSettings.mScale))
|
|
{
|
|
outResult.SetError("Can't use zero scale!");
|
|
return;
|
|
}
|
|
|
|
outResult.Set(this);
|
|
}
|
|
|
|
MassProperties ScaledShape::GetMassProperties() const
|
|
{
|
|
MassProperties p = mInnerShape->GetMassProperties();
|
|
p.Scale(mScale);
|
|
return p;
|
|
}
|
|
|
|
AABox ScaledShape::GetLocalBounds() const
|
|
{
|
|
return mInnerShape->GetLocalBounds().Scaled(mScale);
|
|
}
|
|
|
|
AABox ScaledShape::GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
|
|
{
|
|
return mInnerShape->GetWorldSpaceBounds(inCenterOfMassTransform, inScale * mScale);
|
|
}
|
|
|
|
TransformedShape ScaledShape::GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const
|
|
{
|
|
// We don't use any bits in the sub shape ID
|
|
outRemainder = inSubShapeID;
|
|
|
|
TransformedShape ts(RVec3(inPositionCOM), inRotation, mInnerShape, BodyID());
|
|
ts.SetShapeScale(inScale * mScale);
|
|
return ts;
|
|
}
|
|
|
|
Vec3 ScaledShape::GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const
|
|
{
|
|
// Transform the surface point to local space and pass the query on
|
|
Vec3 normal = mInnerShape->GetSurfaceNormal(inSubShapeID, inLocalSurfacePosition / mScale);
|
|
|
|
// Need to transform the plane normals using inScale
|
|
// Transforming a direction with matrix M is done through multiplying by (M^-1)^T
|
|
// In this case M is a diagonal matrix with the scale vector, so we need to multiply our normal by 1 / scale and renormalize afterwards
|
|
return (normal / mScale).Normalized();
|
|
}
|
|
|
|
void ScaledShape::GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const
|
|
{
|
|
mInnerShape->GetSupportingFace(inSubShapeID, inDirection, inScale * mScale, inCenterOfMassTransform, outVertices);
|
|
}
|
|
|
|
void ScaledShape::GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const
|
|
{
|
|
mInnerShape->GetSubmergedVolume(inCenterOfMassTransform, inScale * mScale, inSurface, outTotalVolume, outSubmergedVolume, outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, inBaseOffset));
|
|
}
|
|
|
|
#ifdef JPH_DEBUG_RENDERER
|
|
void ScaledShape::Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const
|
|
{
|
|
mInnerShape->Draw(inRenderer, inCenterOfMassTransform, inScale * mScale, inColor, inUseMaterialColors, inDrawWireframe);
|
|
}
|
|
|
|
void ScaledShape::DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const
|
|
{
|
|
mInnerShape->DrawGetSupportFunction(inRenderer, inCenterOfMassTransform, inScale * mScale, inColor, inDrawSupportDirection);
|
|
}
|
|
|
|
void ScaledShape::DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
|
|
{
|
|
mInnerShape->DrawGetSupportingFace(inRenderer, inCenterOfMassTransform, inScale * mScale);
|
|
}
|
|
#endif // JPH_DEBUG_RENDERER
|
|
|
|
bool ScaledShape::CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const
|
|
{
|
|
Vec3 inv_scale = mScale.Reciprocal();
|
|
RayCast scaled_ray { inv_scale * inRay.mOrigin, inv_scale * inRay.mDirection };
|
|
return mInnerShape->CastRay(scaled_ray, inSubShapeIDCreator, ioHit);
|
|
}
|
|
|
|
void ScaledShape::CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter) const
|
|
{
|
|
// Test shape filter
|
|
if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
|
|
return;
|
|
|
|
Vec3 inv_scale = mScale.Reciprocal();
|
|
RayCast scaled_ray { inv_scale * inRay.mOrigin, inv_scale * inRay.mDirection };
|
|
return mInnerShape->CastRay(scaled_ray, inRayCastSettings, inSubShapeIDCreator, ioCollector, inShapeFilter);
|
|
}
|
|
|
|
void ScaledShape::CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) const
|
|
{
|
|
// Test shape filter
|
|
if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
|
|
return;
|
|
|
|
Vec3 inv_scale = mScale.Reciprocal();
|
|
mInnerShape->CollidePoint(inv_scale * inPoint, inSubShapeIDCreator, ioCollector, inShapeFilter);
|
|
}
|
|
|
|
void ScaledShape::CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const
|
|
{
|
|
mInnerShape->CollideSoftBodyVertices(inCenterOfMassTransform, inScale * mScale, inVertices, inNumVertices, inCollidingShapeIndex);
|
|
}
|
|
|
|
void ScaledShape::CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const
|
|
{
|
|
// Test shape filter
|
|
if (!inShapeFilter.ShouldCollide(this, inSubShapeIDCreator.GetID()))
|
|
return;
|
|
|
|
mInnerShape->CollectTransformedShapes(inBox, inPositionCOM, inRotation, inScale * mScale, inSubShapeIDCreator, ioCollector, inShapeFilter);
|
|
}
|
|
|
|
void ScaledShape::TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const
|
|
{
|
|
mInnerShape->TransformShape(inCenterOfMassTransform * Mat44::sScale(mScale), ioCollector);
|
|
}
|
|
|
|
void ScaledShape::SaveBinaryState(StreamOut &inStream) const
|
|
{
|
|
DecoratedShape::SaveBinaryState(inStream);
|
|
|
|
inStream.Write(mScale);
|
|
}
|
|
|
|
void ScaledShape::RestoreBinaryState(StreamIn &inStream)
|
|
{
|
|
DecoratedShape::RestoreBinaryState(inStream);
|
|
|
|
inStream.Read(mScale);
|
|
}
|
|
|
|
float ScaledShape::GetVolume() const
|
|
{
|
|
return abs(mScale.GetX() * mScale.GetY() * mScale.GetZ()) * mInnerShape->GetVolume();
|
|
}
|
|
|
|
bool ScaledShape::IsValidScale(Vec3Arg inScale) const
|
|
{
|
|
return mInnerShape->IsValidScale(inScale * mScale);
|
|
}
|
|
|
|
Vec3 ScaledShape::MakeScaleValid(Vec3Arg inScale) const
|
|
{
|
|
return mInnerShape->MakeScaleValid(mScale * inScale) / mScale;
|
|
}
|
|
|
|
void ScaledShape::sCollideScaledVsShape(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)
|
|
{
|
|
JPH_ASSERT(inShape1->GetSubType() == EShapeSubType::Scaled);
|
|
const ScaledShape *shape1 = static_cast<const ScaledShape *>(inShape1);
|
|
|
|
CollisionDispatch::sCollideShapeVsShape(shape1->GetInnerShape(), inShape2, inScale1 * shape1->GetScale(), inScale2, inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
|
|
}
|
|
|
|
void ScaledShape::sCollideShapeVsScaled(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)
|
|
{
|
|
JPH_ASSERT(inShape2->GetSubType() == EShapeSubType::Scaled);
|
|
const ScaledShape *shape2 = static_cast<const ScaledShape *>(inShape2);
|
|
|
|
CollisionDispatch::sCollideShapeVsShape(inShape1, shape2->GetInnerShape(), inScale1, inScale2 * shape2->GetScale(), inCenterOfMassTransform1, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, inCollideShapeSettings, ioCollector, inShapeFilter);
|
|
}
|
|
|
|
void ScaledShape::sCastScaledVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
|
|
{
|
|
JPH_ASSERT(inShapeCast.mShape->GetSubType() == EShapeSubType::Scaled);
|
|
const ScaledShape *shape = static_cast<const ScaledShape *>(inShapeCast.mShape);
|
|
|
|
ShapeCast scaled_cast(shape->GetInnerShape(), inShapeCast.mScale * shape->GetScale(), inShapeCast.mCenterOfMassStart, inShapeCast.mDirection);
|
|
CollisionDispatch::sCastShapeVsShapeLocalSpace(scaled_cast, inShapeCastSettings, inShape, inScale, inShapeFilter, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
|
|
}
|
|
|
|
void ScaledShape::sCastShapeVsScaled(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector)
|
|
{
|
|
JPH_ASSERT(inShape->GetSubType() == EShapeSubType::Scaled);
|
|
const ScaledShape *shape = static_cast<const ScaledShape *>(inShape);
|
|
|
|
CollisionDispatch::sCastShapeVsShapeLocalSpace(inShapeCast, inShapeCastSettings, shape->mInnerShape, inScale * shape->mScale, inShapeFilter, inCenterOfMassTransform2, inSubShapeIDCreator1, inSubShapeIDCreator2, ioCollector);
|
|
}
|
|
|
|
void ScaledShape::sRegister()
|
|
{
|
|
ShapeFunctions &f = ShapeFunctions::sGet(EShapeSubType::Scaled);
|
|
f.mConstruct = []() -> Shape * { return new ScaledShape; };
|
|
f.mColor = Color::sYellow;
|
|
|
|
for (EShapeSubType s : sAllSubShapeTypes)
|
|
{
|
|
CollisionDispatch::sRegisterCollideShape(EShapeSubType::Scaled, s, sCollideScaledVsShape);
|
|
CollisionDispatch::sRegisterCollideShape(s, EShapeSubType::Scaled, sCollideShapeVsScaled);
|
|
CollisionDispatch::sRegisterCastShape(EShapeSubType::Scaled, s, sCastScaledVsShape);
|
|
CollisionDispatch::sRegisterCastShape(s, EShapeSubType::Scaled, sCastShapeVsScaled);
|
|
}
|
|
}
|
|
|
|
JPH_NAMESPACE_END
|