57 lines
3.5 KiB
C++
57 lines
3.5 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/Geometry/AABox.h>
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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/Shape/ConvexShape.h>
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JPH_NAMESPACE_BEGIN
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class CollideShapeSettings;
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/// Collision detection helper that collides a convex object vs one or more triangles
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class JPH_EXPORT CollideConvexVsTriangles
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{
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public:
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/// Constructor
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/// @param inShape1 The convex shape to collide against triangles
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/// @param inScale1 Local space scale for the convex object (scales relative to its center of mass)
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/// @param inScale2 Local space scale for the triangles
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/// @param inCenterOfMassTransform1 Transform that takes the center of mass of 1 into world space
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/// @param inCenterOfMassTransform2 Transform that takes the center of mass of 2 into world space
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/// @param inSubShapeID1 Sub shape ID of the convex object
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/// @param inCollideShapeSettings Settings for the collide shape query
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/// @param ioCollector The collector that will receive the results
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CollideConvexVsTriangles(const ConvexShape *inShape1, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeID &inSubShapeID1, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector);
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/// Collide convex object 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 Collide(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, uint8 inActiveEdges, const SubShapeID &inSubShapeID2);
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protected:
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const CollideShapeSettings & mCollideShapeSettings; ///< Settings for this collision operation
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CollideShapeCollector & mCollector; ///< The collector that will receive the results
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const ConvexShape * mShape1; ///< The shape that we're colliding with
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Vec3 mScale1; ///< The scale of the shape (in shape local space) of the shape we're colliding with
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Vec3 mScale2; ///< The scale of the shape (in shape local space) of the shape we're colliding against
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Mat44 mTransform1; ///< Transform of the shape we're colliding with
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Mat44 mTransform2To1; ///< Transform that takes a point in space of the colliding shape to the shape we're colliding with
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AABox mBoundsOf1; ///< Bounds of the colliding shape in local space
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AABox mBoundsOf1InSpaceOf2; ///< Bounds of the colliding shape in space of shape we're colliding with
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SubShapeID mSubShapeID1; ///< Sub shape ID of colliding shape
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float mScaleSign2; ///< Sign of the scale of object 2, -1 if object is inside out, 1 if not
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ConvexShape::SupportBuffer mBufferExCvxRadius; ///< Buffer that holds the support function data excluding convex radius
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ConvexShape::SupportBuffer mBufferIncCvxRadius; ///< Buffer that holds the support function data including convex radius
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const ConvexShape::Support * mShape1ExCvxRadius = nullptr; ///< Actual support function object excluding convex radius
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const ConvexShape::Support * mShape1IncCvxRadius = nullptr; ///< Actual support function object including convex radius
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};
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JPH_NAMESPACE_END
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