126 lines
5.3 KiB
C++
126 lines
5.3 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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JPH_NAMESPACE_BEGIN
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/// Class that constructs a SphereShape
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class JPH_EXPORT SphereShapeSettings final : public ConvexShapeSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, SphereShapeSettings)
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public:
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/// Default constructor for deserialization
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SphereShapeSettings() = default;
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/// Create a sphere with radius inRadius
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SphereShapeSettings(float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mRadius(inRadius) { }
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// See: ShapeSettings
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virtual ShapeResult Create() const override;
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float mRadius = 0.0f;
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};
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/// A sphere, centered around the origin.
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/// Note that it is implemented as a point with convex radius.
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class JPH_EXPORT SphereShape final : public ConvexShape
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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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SphereShape() : ConvexShape(EShapeSubType::Sphere) { }
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SphereShape(const SphereShapeSettings &inSettings, ShapeResult &outResult);
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/// Create a sphere with radius inRadius
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SphereShape(float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Sphere, inMaterial), mRadius(inRadius) { JPH_ASSERT(inRadius > 0.0f); }
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/// Radius of the sphere
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float GetRadius() const { return mRadius; }
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// See Shape::GetLocalBounds
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virtual AABox GetLocalBounds() const override;
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// See Shape::GetWorldSpaceBounds
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virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
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using Shape::GetWorldSpaceBounds;
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// See Shape::GetInnerRadius
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virtual float GetInnerRadius() const override { return mRadius; }
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// See Shape::GetMassProperties
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virtual MassProperties GetMassProperties() const override;
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// See Shape::GetSurfaceNormal
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virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
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// See Shape::GetSupportingFace
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virtual void GetSupportingFace([[maybe_unused]] const SubShapeID &inSubShapeID, [[maybe_unused]] Vec3Arg inDirection, [[maybe_unused]] Vec3Arg inScale, [[maybe_unused]] Mat44Arg inCenterOfMassTransform, [[maybe_unused]] SupportingFace &outVertices) const override { /* Hit is always a single point, no point in returning anything */ }
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// See ConvexShape::GetSupportFunction
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virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) 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;
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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
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virtual void SaveBinaryState(StreamOut &inStream) const 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 4.0f / 3.0f * JPH_PI * Cubed(mRadius); }
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// See Shape::IsValidScale
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virtual bool IsValidScale(Vec3Arg inScale) const override;
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// See Shape::MakeScaleValid
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virtual Vec3 MakeScaleValid(Vec3Arg inScale) const override;
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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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// Get the radius of this sphere scaled by inScale
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inline float GetScaledRadius(Vec3Arg inScale) const;
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// Classes for GetSupportFunction
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class SphereNoConvex;
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class SphereWithConvex;
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float mRadius = 0.0f;
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};
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JPH_NAMESPACE_END
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