50 lines
2.8 KiB
C++
50 lines
2.8 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/ShapeCast.h>
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JPH_NAMESPACE_BEGIN
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/// Collision detection helper that casts a sphere vs one or more triangles
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class JPH_EXPORT CastSphereVsTriangles
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{
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public:
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/// Constructor
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/// @param inShapeCast The sphere to cast against the triangles and its start and direction
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/// @param inShapeCastSettings Settings for performing the cast
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/// @param inScale Local space scale for the shape to cast against (scales relative to its center of mass).
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/// @param inCenterOfMassTransform2 Is the center of mass transform of shape 2 (excluding scale), this is used to provide a transform to the shape cast result so that local quantities can be transformed into world space.
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/// @param inSubShapeIDCreator1 Class that tracks the current sub shape ID for the casting shape
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/// @param ioCollector The collector that receives the results.
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CastSphereVsTriangles(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, CastShapeCollector &ioCollector);
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/// Cast sphere with a single triangle
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/// @param inV0 , inV1 , inV2: CCW triangle vertices
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/// @param inActiveEdges bit 0 = edge v0..v1 is active, bit 1 = edge v1..v2 is active, bit 2 = edge v2..v0 is active
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/// An active edge is an edge that is not connected to another triangle in such a way that it is impossible to collide with the edge
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/// @param inSubShapeID2 The sub shape ID for the triangle
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void Cast(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, uint8 inActiveEdges, const SubShapeID &inSubShapeID2);
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protected:
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Vec3 mStart; ///< Starting location of the sphere
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Vec3 mDirection; ///< Direction and length of movement of sphere
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float mRadius; ///< Scaled radius of sphere
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const ShapeCastSettings & mShapeCastSettings;
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const Mat44 & mCenterOfMassTransform2;
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Vec3 mScale;
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SubShapeIDCreator mSubShapeIDCreator1;
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CastShapeCollector & mCollector;
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private:
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void AddHit(bool inBackFacing, const SubShapeID &inSubShapeID2, float inFraction, Vec3Arg inContactPointA, Vec3Arg inContactPointB, Vec3Arg inContactNormal);
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void AddHitWithActiveEdgeDetection(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, bool inBackFacing, Vec3Arg inTriangleNormal, uint8 inActiveEdges, const SubShapeID &inSubShapeID2, float inFraction, Vec3Arg inContactPointA, Vec3Arg inContactPointB, Vec3Arg inContactNormal);
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float RayCylinder(Vec3Arg inRayDirection, Vec3Arg inCylinderA, Vec3Arg inCylinderB, float inRadius) const;
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float mScaleSign; ///< Sign of the scale, -1 if object is inside out, 1 if not
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};
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JPH_NAMESPACE_END
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