144 lines
7.5 KiB
C++
144 lines
7.5 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2024 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/Shape.h>
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#include <Jolt/Physics/Collision/Shape/SubShapeID.h>
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#include <Jolt/Physics/Collision/PhysicsMaterial.h>
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JPH_NAMESPACE_BEGIN
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class CollideShapeSettings;
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/// Class that constructs a PlaneShape
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class JPH_EXPORT PlaneShapeSettings final : public ShapeSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, PlaneShapeSettings)
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public:
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/// Default constructor for deserialization
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PlaneShapeSettings() = default;
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/// Create a plane shape.
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PlaneShapeSettings(const Plane &inPlane, const PhysicsMaterial *inMaterial = nullptr, float inHalfExtent = cDefaultHalfExtent) : mPlane(inPlane), mMaterial(inMaterial), mHalfExtent(inHalfExtent) { }
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// See: ShapeSettings
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virtual ShapeResult Create() const override;
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Plane mPlane; ///< Plane that describes the shape. The negative half space is considered solid.
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RefConst<PhysicsMaterial> mMaterial; ///< Surface material of the plane
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static constexpr float cDefaultHalfExtent = 1000.0f; ///< Default half-extent of the plane (total size along 1 axis will be 2 * half-extent)
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float mHalfExtent = cDefaultHalfExtent; ///< The bounding box of this plane will run from [-half_extent, half_extent]. Keep this as low as possible for better broad phase performance.
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};
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/// A plane shape. The negative half space is considered solid. Planes cannot be dynamic objects, only static or kinematic.
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/// The plane is considered an infinite shape, but testing collision outside of its bounding box (defined by the half-extent parameter) will not return a collision result.
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/// At the edge of the bounding box collision with the plane will be inconsistent. If you need something of a well defined size, a box shape may be better.
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class JPH_EXPORT PlaneShape final : public Shape
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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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PlaneShape() : Shape(EShapeType::Plane, EShapeSubType::Plane) { }
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PlaneShape(const Plane &inPlane, const PhysicsMaterial *inMaterial = nullptr, float inHalfExtent = PlaneShapeSettings::cDefaultHalfExtent) : Shape(EShapeType::Plane, EShapeSubType::Plane), mPlane(inPlane), mMaterial(inMaterial), mHalfExtent(inHalfExtent) { CalculateLocalBounds(); }
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PlaneShape(const PlaneShapeSettings &inSettings, ShapeResult &outResult);
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/// Get the plane
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const Plane & GetPlane() const { return mPlane; }
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/// Get the half-extent of the bounding box of the plane
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float GetHalfExtent() const { return mHalfExtent; }
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// See Shape::MustBeStatic
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virtual bool MustBeStatic() const override { return true; }
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// See Shape::GetLocalBounds
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virtual AABox GetLocalBounds() const override { return mLocalBounds; }
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// See Shape::GetSubShapeIDBitsRecursive
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virtual uint GetSubShapeIDBitsRecursive() const override { return 0; }
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// See Shape::GetInnerRadius
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virtual float GetInnerRadius() const override { return 0.0f; }
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// See Shape::GetMassProperties
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virtual MassProperties GetMassProperties() const override;
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// See Shape::GetMaterial
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virtual const PhysicsMaterial * GetMaterial(const SubShapeID &inSubShapeID) const override { JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID"); return mMaterial != nullptr? mMaterial : PhysicsMaterial::sDefault; }
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// See Shape::GetSurfaceNormal
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virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override { JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID"); return mPlane.GetNormal(); }
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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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#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::CastRay
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virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
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virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
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// See: Shape::CollidePoint
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virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) 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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// See Shape::GetTrianglesStart
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virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
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// See Shape::GetTrianglesNext
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virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
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// See Shape::GetSubmergedVolume
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virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override { JPH_ASSERT(false, "Not supported"); }
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// See Shape
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virtual void SaveBinaryState(StreamOut &inStream) const override;
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virtual void SaveMaterialState(PhysicsMaterialList &outMaterials) const override;
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virtual void RestoreMaterialState(const PhysicsMaterialRefC *inMaterials, uint inNumMaterials) 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 0; }
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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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struct PSGetTrianglesContext; ///< Context class for GetTrianglesStart/Next
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// Get 4 vertices that form the plane
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void GetVertices(Vec3 *outVertices) const;
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// Cache the local bounds
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void CalculateLocalBounds();
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// Helper functions called by CollisionDispatch
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static void sCollideConvexVsPlane(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
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static void sCastConvexVsPlane(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
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Plane mPlane;
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RefConst<PhysicsMaterial> mMaterial;
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float mHalfExtent;
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AABox mLocalBounds;
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};
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JPH_NAMESPACE_END
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