74 lines
5.1 KiB
C++
74 lines
5.1 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2023 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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JPH_NAMESPACE_BEGIN
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class SoftBodyMotionProperties;
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class CollideShapeSettings;
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/// Shape used exclusively for soft bodies. Adds the ability to perform collision checks against soft bodies.
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class JPH_EXPORT SoftBodyShape 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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SoftBodyShape() : Shape(EShapeType::SoftBody, EShapeSubType::SoftBody) { }
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/// Determine amount of bits needed to encode sub shape id
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uint GetSubShapeIDBits() const;
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/// Convert a sub shape ID back to a face index
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uint32 GetFaceIndex(const SubShapeID &inSubShapeID) const;
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// See Shape
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virtual bool MustBeStatic() const override { return false; }
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virtual Vec3 GetCenterOfMass() const override { return Vec3::sZero(); }
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virtual AABox GetLocalBounds() const override;
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virtual uint GetSubShapeIDBitsRecursive() const override { return GetSubShapeIDBits(); }
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virtual float GetInnerRadius() const override { return 0.0f; }
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virtual MassProperties GetMassProperties() const override { return MassProperties(); }
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virtual const PhysicsMaterial * GetMaterial(const SubShapeID &inSubShapeID) const override;
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virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
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virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
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virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy
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#ifdef JPH_DEBUG_RENDERER // Not using JPH_IF_DEBUG_RENDERER for Doxygen
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, RVec3Arg inBaseOffset
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#endif
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) const override;
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#ifdef JPH_DEBUG_RENDERER
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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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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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virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
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virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
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virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
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virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
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virtual Stats GetStats() const override;
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virtual float GetVolume() const override;
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// Register shape functions with the registry
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static void sRegister();
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private:
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// Helper functions called by CollisionDispatch
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static void sCollideConvexVsSoftBody(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 sCollideSphereVsSoftBody(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 sCastConvexVsSoftBody(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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static void sCastSphereVsSoftBody(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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struct SBSGetTrianglesContext;
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friend class BodyManager;
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const SoftBodyMotionProperties *mSoftBodyMotionProperties;
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};
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JPH_NAMESPACE_END
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