forked from hertog/godot-module-template
136 lines
5 KiB
C++
136 lines
5 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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#ifdef JPH_DEBUG_RENDERER
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#include <Jolt/Renderer/DebugRenderer.h>
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#endif // JPH_DEBUG_RENDERER
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JPH_NAMESPACE_BEGIN
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/// Class that constructs a TaperedCapsuleShape
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class JPH_EXPORT TaperedCapsuleShapeSettings final : public ConvexShapeSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TaperedCapsuleShapeSettings)
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public:
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/// Default constructor for deserialization
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TaperedCapsuleShapeSettings() = default;
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/// 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
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TaperedCapsuleShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, const PhysicsMaterial *inMaterial = nullptr);
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/// Check if the settings are valid
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bool IsValid() const { return mTopRadius > 0.0f && mBottomRadius > 0.0f && mHalfHeightOfTaperedCylinder >= 0.0f; }
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/// Checks if the settings of this tapered capsule make this shape a sphere
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bool IsSphere() const;
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// See: ShapeSettings
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virtual ShapeResult Create() const override;
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float mHalfHeightOfTaperedCylinder = 0.0f;
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float mTopRadius = 0.0f;
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float mBottomRadius = 0.0f;
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};
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/// A capsule with different top and bottom radii
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class JPH_EXPORT TaperedCapsuleShape 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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TaperedCapsuleShape() : ConvexShape(EShapeSubType::TaperedCapsule) { }
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TaperedCapsuleShape(const TaperedCapsuleShapeSettings &inSettings, ShapeResult &outResult);
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/// Get top radius of the tapered capsule
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inline float GetTopRadius() const { return mTopRadius; }
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/// Get bottom radius of the tapered capsule
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inline float GetBottomRadius() const { return mBottomRadius; }
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/// Get half height between the top and bottom sphere center
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inline float GetHalfHeight() const { return 0.5f * (mTopCenter - mBottomCenter); }
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// See Shape::GetCenterOfMass
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virtual Vec3 GetCenterOfMass() const override { return mCenterOfMass; }
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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 min(mTopRadius, mBottomRadius); }
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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::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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#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
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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), 0); }
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// See Shape::GetVolume
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virtual float GetVolume() const override { return GetLocalBounds().GetVolume(); } // Volume is approximate!
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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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// Class for GetSupportFunction
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class TaperedCapsule;
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/// Returns box that approximates the inertia
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AABox GetInertiaApproximation() const;
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Vec3 mCenterOfMass = Vec3::sZero();
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float mTopRadius = 0.0f;
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float mBottomRadius = 0.0f;
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float mTopCenter = 0.0f;
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float mBottomCenter = 0.0f;
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float mConvexRadius = 0.0f;
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float mSinAlpha = 0.0f;
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float mTanAlpha = 0.0f;
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#ifdef JPH_DEBUG_RENDERER
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mutable DebugRenderer::GeometryRef mGeometry;
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#endif // JPH_DEBUG_RENDERER
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};
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JPH_NAMESPACE_END
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