45 lines
2.5 KiB
C++
45 lines
2.5 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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#include <Jolt/Physics/Collision/ContactListener.h>
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JPH_NAMESPACE_BEGIN
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/// Remove contact points if there are > 4 (no more than 4 are needed for a stable solution)
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/// @param inPenetrationAxis is the world space penetration axis (must be normalized)
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/// @param ioContactPointsOn1 The contact points on shape 1 relative to inCenterOfMass
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/// @param ioContactPointsOn2 The contact points on shape 2 relative to inCenterOfMass
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/// On output ioContactPointsOn1/2 are reduced to 4 or less points
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#ifdef JPH_DEBUG_RENDERER
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/// @param inCenterOfMass Center of mass position of body 1
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#endif
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JPH_EXPORT void PruneContactPoints(Vec3Arg inPenetrationAxis, ContactPoints &ioContactPointsOn1, ContactPoints &ioContactPointsOn2
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#ifdef JPH_DEBUG_RENDERER
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, RVec3Arg inCenterOfMass
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#endif
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);
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/// Determine contact points between 2 faces of 2 shapes and return them in outContactPoints 1 & 2
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/// @param inContactPoint1 The contact point on shape 1 relative to inCenterOfMass
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/// @param inContactPoint2 The contact point on shape 2 relative to inCenterOfMass
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/// @param inPenetrationAxis The local space penetration axis in world space
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/// @param inMaxContactDistance After face 2 is clipped against face 1, each remaining point on face 2 is tested against the plane of face 1. If the distance on the positive side of the plane is larger than this distance, the point will be discarded as a contact point.
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/// @param inShape1Face The supporting faces on shape 1 relative to inCenterOfMass
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/// @param inShape2Face The supporting faces on shape 2 relative to inCenterOfMass
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/// @param outContactPoints1 Returns the contact points between the two shapes for shape 1 relative to inCenterOfMass (any existing points in the output array are left as is)
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/// @param outContactPoints2 Returns the contact points between the two shapes for shape 2 relative to inCenterOfMass (any existing points in the output array are left as is)
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#ifdef JPH_DEBUG_RENDERER
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/// @param inCenterOfMass Center of mass position of body 1
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#endif
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JPH_EXPORT void ManifoldBetweenTwoFaces(Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, Vec3Arg inPenetrationAxis, float inMaxContactDistance, const ConvexShape::SupportingFace &inShape1Face, const ConvexShape::SupportingFace &inShape2Face, ContactPoints &outContactPoints1, ContactPoints &outContactPoints2
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#ifdef JPH_DEBUG_RENDERER
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, RVec3Arg inCenterOfMass
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#endif
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);
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JPH_NAMESPACE_END
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