generated from hertog/godot-module-template
75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
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JPH_NAMESPACE_BEGIN
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/// An interface to query which vertices of a soft body are colliding with other bodies
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class SoftBodyManifold
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{
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public:
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/// Get the vertices of the soft body for iterating
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const Array<SoftBodyVertex> & GetVertices() const { return mVertices; }
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/// Check if a vertex has collided with something in this update
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JPH_INLINE bool HasContact(const SoftBodyVertex &inVertex) const
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{
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return inVertex.mHasContact;
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}
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/// Get the local space contact point (multiply by GetCenterOfMassTransform() of the soft body to get world space)
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JPH_INLINE Vec3 GetLocalContactPoint(const SoftBodyVertex &inVertex) const
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{
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return inVertex.mPosition - inVertex.mCollisionPlane.SignedDistance(inVertex.mPosition) * inVertex.mCollisionPlane.GetNormal();
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}
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/// Get the contact normal for the vertex (assumes there is a contact).
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JPH_INLINE Vec3 GetContactNormal(const SoftBodyVertex &inVertex) const
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{
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return -inVertex.mCollisionPlane.GetNormal();
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}
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/// Get the body with which the vertex has collided in this update
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JPH_INLINE BodyID GetContactBodyID(const SoftBodyVertex &inVertex) const
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{
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return inVertex.mHasContact? mCollidingShapes[inVertex.mCollidingShapeIndex].mBodyID : BodyID();
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}
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/// Get the number of sensors that are in contact with the soft body
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JPH_INLINE uint GetNumSensorContacts() const
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{
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return (uint)mCollidingSensors.size();
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}
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/// Get the i-th sensor that is in contact with the soft body
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JPH_INLINE BodyID GetSensorContactBodyID(uint inIndex) const
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{
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return mCollidingSensors[inIndex].mBodyID;
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}
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private:
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/// Allow SoftBodyMotionProperties to construct us
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friend class SoftBodyMotionProperties;
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/// Constructor
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explicit SoftBodyManifold(const SoftBodyMotionProperties *inMotionProperties) :
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mVertices(inMotionProperties->mVertices),
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mCollidingShapes(inMotionProperties->mCollidingShapes),
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mCollidingSensors(inMotionProperties->mCollidingSensors)
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{
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}
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using CollidingShape = SoftBodyMotionProperties::CollidingShape;
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using CollidingSensor = SoftBodyMotionProperties::CollidingSensor;
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const Array<SoftBodyVertex> & mVertices;
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const Array<CollidingShape> & mCollidingShapes;
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const Array<CollidingSensor> & mCollidingSensors;
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};
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JPH_NAMESPACE_END
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