49 lines
2.9 KiB
C++
49 lines
2.9 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/Physics/Collision/ContactListener.h>
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JPH_NAMESPACE_BEGIN
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/// A structure that contains the estimated contact and friction impulses and the resulting body velocities
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struct CollisionEstimationResult
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{
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Vec3 mLinearVelocity1; ///< The estimated linear velocity of body 1 after collision
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Vec3 mAngularVelocity1; ///< The estimated angular velocity of body 1 after collision
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Vec3 mLinearVelocity2; ///< The estimated linear velocity of body 2 after collision
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Vec3 mAngularVelocity2; ///< The estimated angular velocity of body 2 after collision
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Vec3 mTangent1; ///< Normalized tangent of contact normal
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Vec3 mTangent2; ///< Second normalized tangent of contact normal (forms a basis with mTangent1 and mWorldSpaceNormal)
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struct Impulse
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{
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float mContactImpulse; ///< Estimated contact impulses (kg m / s)
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float mFrictionImpulse1; ///< Estimated friction impulses in the direction of tangent 1 (kg m / s)
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float mFrictionImpulse2; ///< Estimated friction impulses in the direction of tangent 2 (kg m / s)
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};
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using Impulses = StaticArray<Impulse, ContactPoints::Capacity>;
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Impulses mImpulses;
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};
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/// This function estimates the contact impulses and body velocity changes as a result of a collision.
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/// It can be used in the ContactListener::OnContactAdded to determine the strength of the collision to e.g. play a sound or trigger a particle system.
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/// This function is accurate when two bodies collide but will not be accurate when more than 2 bodies collide at the same time as it does not know about these other collisions.
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///
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/// @param inBody1 Colliding body 1
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/// @param inBody2 Colliding body 2
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/// @param inManifold The collision manifold
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/// @param outResult A structure that contains the estimated contact and friction impulses and the resulting body velocities
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/// @param inCombinedFriction The combined friction of body 1 and body 2 (see ContactSettings::mCombinedFriction)
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/// @param inCombinedRestitution The combined restitution of body 1 and body 2 (see ContactSettings::mCombinedRestitution)
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/// @param inMinVelocityForRestitution Minimal velocity required for restitution to be applied (see PhysicsSettings::mMinVelocityForRestitution)
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/// @param inNumIterations Number of iterations to use for the impulse estimation (see PhysicsSettings::mNumVelocitySteps, note you can probably use a lower number for a decent estimate). If you set the number of iterations to 1 then no friction will be calculated.
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JPH_EXPORT void EstimateCollisionResponse(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, CollisionEstimationResult &outResult, float inCombinedFriction, float inCombinedRestitution, float inMinVelocityForRestitution = 1.0f, uint inNumIterations = 10);
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JPH_NAMESPACE_END
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