130 lines
5.5 KiB
C++
130 lines
5.5 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/Physics/Collision/Shape/ConvexShape.h>
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JPH_NAMESPACE_BEGIN
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/// Class that constructs a CapsuleShape
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class JPH_EXPORT CapsuleShapeSettings final : public ConvexShapeSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, CapsuleShapeSettings)
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public:
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/// Default constructor for deserialization
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CapsuleShapeSettings() = default;
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/// Create a capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfCylinder, 0) and the other at (0, inHalfHeightOfCylinder, 0)
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CapsuleShapeSettings(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { }
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/// Check if this is a valid capsule shape
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bool IsValid() const { return mRadius > 0.0f && mHalfHeightOfCylinder >= 0.0f; }
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/// Checks if the settings of this capsule make this shape a sphere
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bool IsSphere() const { return mHalfHeightOfCylinder == 0.0f; }
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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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float mHalfHeightOfCylinder = 0.0f;
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};
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/// A capsule, implemented as a line segment with convex radius
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class JPH_EXPORT CapsuleShape 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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CapsuleShape() : ConvexShape(EShapeSubType::Capsule) { }
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CapsuleShape(const CapsuleShapeSettings &inSettings, ShapeResult &outResult);
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/// Create a capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfCylinder, 0) and the other at (0, inHalfHeightOfCylinder, 0)
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CapsuleShape(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Capsule, inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { JPH_ASSERT(inHalfHeightOfCylinder > 0.0f); JPH_ASSERT(inRadius > 0.0f); }
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/// Radius of the cylinder
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float GetRadius() const { return mRadius; }
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/// Get half of the height of the cylinder
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float GetHalfHeightOfCylinder() const { return mHalfHeightOfCylinder; }
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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(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
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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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#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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using ConvexShape::CastRay;
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virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) 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) + 2.0f * JPH_PI * mHalfHeightOfCylinder * Square(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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// Classes for GetSupportFunction
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class CapsuleNoConvex;
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class CapsuleWithConvex;
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float mRadius = 0.0f;
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float mHalfHeightOfCylinder = 0.0f;
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};
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JPH_NAMESPACE_END
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