// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics) // SPDX-FileCopyrightText: 2021 Jorrit Rouwe // SPDX-License-Identifier: MIT #pragma once #include JPH_NAMESPACE_BEGIN /// Collision detection helper that casts a sphere vs one or more triangles class JPH_EXPORT CastSphereVsTriangles { public: /// Constructor /// @param inShapeCast The sphere to cast against the triangles and its start and direction /// @param inShapeCastSettings Settings for performing the cast /// @param inScale Local space scale for the shape to cast against (scales relative to its center of mass). /// @param inCenterOfMassTransform2 Is the center of mass transform of shape 2 (excluding scale), this is used to provide a transform to the shape cast result so that local quantities can be transformed into world space. /// @param inSubShapeIDCreator1 Class that tracks the current sub shape ID for the casting shape /// @param ioCollector The collector that receives the results. CastSphereVsTriangles(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, CastShapeCollector &ioCollector); /// Cast sphere with a single triangle /// @param inV0 , inV1 , inV2: CCW triangle vertices /// @param inActiveEdges bit 0 = edge v0..v1 is active, bit 1 = edge v1..v2 is active, bit 2 = edge v2..v0 is active /// 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 /// @param inSubShapeID2 The sub shape ID for the triangle void Cast(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, uint8 inActiveEdges, const SubShapeID &inSubShapeID2); protected: Vec3 mStart; ///< Starting location of the sphere Vec3 mDirection; ///< Direction and length of movement of sphere float mRadius; ///< Scaled radius of sphere const ShapeCastSettings & mShapeCastSettings; const Mat44 & mCenterOfMassTransform2; Vec3 mScale; SubShapeIDCreator mSubShapeIDCreator1; CastShapeCollector & mCollector; private: void AddHit(bool inBackFacing, const SubShapeID &inSubShapeID2, float inFraction, Vec3Arg inContactPointA, Vec3Arg inContactPointB, Vec3Arg inContactNormal); void AddHitWithActiveEdgeDetection(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, bool inBackFacing, Vec3Arg inTriangleNormal, uint8 inActiveEdges, const SubShapeID &inSubShapeID2, float inFraction, Vec3Arg inContactPointA, Vec3Arg inContactPointB, Vec3Arg inContactNormal); float RayCylinder(Vec3Arg inRayDirection, Vec3Arg inCylinderA, Vec3Arg inCylinderB, float inRadius) const; float mScaleSign; ///< Sign of the scale, -1 if object is inside out, 1 if not }; JPH_NAMESPACE_END