133 lines
5.2 KiB
C++
133 lines
5.2 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
|
|
// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
|
|
// SPDX-License-Identifier: MIT
|
|
|
|
#pragma once
|
|
|
|
#include <Jolt/Physics/Collision/Shape/ConvexShape.h>
|
|
#include <Jolt/Physics/PhysicsSettings.h>
|
|
|
|
JPH_NAMESPACE_BEGIN
|
|
|
|
/// Class that constructs a TaperedCylinderShape
|
|
class JPH_EXPORT TaperedCylinderShapeSettings final : public ConvexShapeSettings
|
|
{
|
|
JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TaperedCylinderShapeSettings)
|
|
|
|
public:
|
|
/// Default constructor for deserialization
|
|
TaperedCylinderShapeSettings() = default;
|
|
|
|
/// Create a tapered cylinder centered around the origin with bottom at (0, -inHalfHeightOfTaperedCylinder, 0) with radius inBottomRadius and top at (0, inHalfHeightOfTaperedCylinder, 0) with radius inTopRadius
|
|
TaperedCylinderShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr);
|
|
|
|
// See: ShapeSettings
|
|
virtual ShapeResult Create() const override;
|
|
|
|
float mHalfHeight = 0.0f;
|
|
float mTopRadius = 0.0f;
|
|
float mBottomRadius = 0.0f;
|
|
float mConvexRadius = 0.0f;
|
|
};
|
|
|
|
/// A cylinder with different top and bottom radii
|
|
class JPH_EXPORT TaperedCylinderShape final : public ConvexShape
|
|
{
|
|
public:
|
|
JPH_OVERRIDE_NEW_DELETE
|
|
|
|
/// Constructor
|
|
TaperedCylinderShape() : ConvexShape(EShapeSubType::TaperedCylinder) { }
|
|
TaperedCylinderShape(const TaperedCylinderShapeSettings &inSettings, ShapeResult &outResult);
|
|
|
|
/// Get top radius of the tapered cylinder
|
|
inline float GetTopRadius() const { return mTopRadius; }
|
|
|
|
/// Get bottom radius of the tapered cylinder
|
|
inline float GetBottomRadius() const { return mBottomRadius; }
|
|
|
|
/// Get convex radius of the tapered cylinder
|
|
inline float GetConvexRadius() const { return mConvexRadius; }
|
|
|
|
/// Get half height of the tapered cylinder
|
|
inline float GetHalfHeight() const { return 0.5f * (mTop - mBottom); }
|
|
|
|
// See Shape::GetCenterOfMass
|
|
virtual Vec3 GetCenterOfMass() const override { return Vec3(0, -0.5f * (mTop + mBottom), 0); }
|
|
|
|
// See Shape::GetLocalBounds
|
|
virtual AABox GetLocalBounds() const override;
|
|
|
|
// See Shape::GetInnerRadius
|
|
virtual float GetInnerRadius() const override { return min(mTopRadius, mBottomRadius); }
|
|
|
|
// See Shape::GetMassProperties
|
|
virtual MassProperties GetMassProperties() const override;
|
|
|
|
// See Shape::GetSurfaceNormal
|
|
virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
|
|
|
|
// See Shape::GetSupportingFace
|
|
virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
|
|
|
|
// See ConvexShape::GetSupportFunction
|
|
virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
|
|
|
|
// See: Shape::CollidePoint
|
|
virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
|
|
|
|
// See: Shape::CollideSoftBodyVertices
|
|
virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
|
|
|
|
// See Shape::GetTrianglesStart
|
|
virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
|
|
|
|
// See Shape::GetTrianglesNext
|
|
virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
|
|
|
|
#ifdef JPH_DEBUG_RENDERER
|
|
// See Shape::Draw
|
|
virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
|
|
#endif // JPH_DEBUG_RENDERER
|
|
|
|
// See Shape
|
|
virtual void SaveBinaryState(StreamOut &inStream) const override;
|
|
|
|
// See Shape::GetStats
|
|
virtual Stats GetStats() const override { return Stats(sizeof(*this), 0); }
|
|
|
|
// See Shape::GetVolume
|
|
virtual float GetVolume() const override;
|
|
|
|
// See Shape::IsValidScale
|
|
virtual bool IsValidScale(Vec3Arg inScale) const override;
|
|
|
|
// See Shape::MakeScaleValid
|
|
virtual Vec3 MakeScaleValid(Vec3Arg inScale) const override;
|
|
|
|
// Register shape functions with the registry
|
|
static void sRegister();
|
|
|
|
protected:
|
|
// See: Shape::RestoreBinaryState
|
|
virtual void RestoreBinaryState(StreamIn &inStream) override;
|
|
|
|
private:
|
|
// Class for GetSupportFunction
|
|
class TaperedCylinder;
|
|
|
|
// Class for GetTrianglesTart
|
|
class TCSGetTrianglesContext;
|
|
|
|
// Scale the cylinder
|
|
JPH_INLINE void GetScaled(Vec3Arg inScale, float &outTop, float &outBottom, float &outTopRadius, float &outBottomRadius, float &outConvexRadius) const;
|
|
|
|
float mTop = 0.0f;
|
|
float mBottom = 0.0f;
|
|
float mTopRadius = 0.0f;
|
|
float mBottomRadius = 0.0f;
|
|
float mConvexRadius = 0.0f;
|
|
};
|
|
|
|
JPH_NAMESPACE_END
|