44 lines
1.9 KiB
C++
44 lines
1.9 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Geometry/Plane.h>
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JPH_NAMESPACE_BEGIN
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/// Run time information for a single particle of a soft body
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/// Note that at run-time you should only modify the inverse mass and/or velocity of a vertex to control the soft body.
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/// Modifying the position can lead to missed collisions.
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/// The other members are used internally by the soft body solver.
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class SoftBodyVertex
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{
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public:
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/// Reset collision information to prepare for a new collision check
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inline void ResetCollision()
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{
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mLargestPenetration = -FLT_MAX;
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mCollidingShapeIndex = -1;
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mHasContact = false;
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}
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/// Mark this vertex as being in contact with inBodyID
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inline void MarkCCDContact(const BodyID &inBodyID, const Plane &inContactPlane)
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{
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mCollisionPlane = inContactPlane;
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mCollidingShapeIndex = int(inBodyID.GetIndexAndSequenceNumber() | BodyID::cBroadPhaseBit); // We reuse the broad phase bit to indicate this is a CCD contact
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mHasContact = true;
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}
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Vec3 mPreviousPosition; ///< Internal use only. Position at the previous time step
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Vec3 mPosition; ///< Position, relative to the center of mass of the soft body
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Vec3 mVelocity; ///< Velocity, relative to the center of mass of the soft body
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Plane mCollisionPlane; ///< Internal use only. Nearest collision plane, relative to the center of mass of the soft body
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int mCollidingShapeIndex; ///< Internal use only. Index in the colliding shapes list of the body we may collide with
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bool mHasContact; ///< True if the vertex has collided with anything in the last update
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float mLargestPenetration; ///< Internal use only. Used while finding the collision plane, stores the largest penetration found so far
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float mInvMass; ///< Inverse mass (1 / mass)
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};
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JPH_NAMESPACE_END
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