initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Physics/Collision/Shape/CapsuleShape.h

@@ -0,0 +1,129 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Collision/Shape/ConvexShape.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Class that constructs a CapsuleShape
+class JPH_EXPORT CapsuleShapeSettings final : public ConvexShapeSettings
+{
+	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, CapsuleShapeSettings)
+
+public:
+	/// Default constructor for deserialization
+							CapsuleShapeSettings() = default;
+
+	/// Create a capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfCylinder, 0) and the other at (0, inHalfHeightOfCylinder, 0)
+							CapsuleShapeSettings(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { }
+
+	/// Check if this is a valid capsule shape
+	bool					IsValid() const															{ return mRadius > 0.0f && mHalfHeightOfCylinder >= 0.0f; }
+
+	/// Checks if the settings of this capsule make this shape a sphere
+	bool					IsSphere() const														{ return mHalfHeightOfCylinder == 0.0f; }
+
+	// See: ShapeSettings
+	virtual ShapeResult		Create() const override;
+
+	float					mRadius = 0.0f;
+	float					mHalfHeightOfCylinder = 0.0f;
+};
+
+/// A capsule, implemented as a line segment with convex radius
+class JPH_EXPORT CapsuleShape final : public ConvexShape
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+							CapsuleShape() : ConvexShape(EShapeSubType::Capsule) { }
+							CapsuleShape(const CapsuleShapeSettings &inSettings, ShapeResult &outResult);
+
+	/// Create a capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfCylinder, 0) and the other at (0, inHalfHeightOfCylinder, 0)
+							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); }
+
+	/// Radius of the cylinder
+	float					GetRadius() const														{ return mRadius; }
+
+	/// Get half of the height of the cylinder
+	float					GetHalfHeightOfCylinder() const											{ return mHalfHeightOfCylinder; }
+
+	// See Shape::GetLocalBounds
+	virtual AABox			GetLocalBounds() const override;
+
+	// See Shape::GetWorldSpaceBounds
+	virtual AABox			GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
+	using Shape::GetWorldSpaceBounds;
+
+	// See Shape::GetInnerRadius
+	virtual float			GetInnerRadius() const override											{ return mRadius; }
+
+	// See Shape::GetMassProperties
+	virtual MassProperties	GetMassProperties() const override;
+
+	// See Shape::GetSurfaceNormal
+	virtual Vec3			GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
+
+	// See Shape::GetSupportingFace
+	virtual void			GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
+
+	// See ConvexShape::GetSupportFunction
+	virtual const Support *	GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
+
+#ifdef JPH_DEBUG_RENDERER
+	// See Shape::Draw
+	virtual void			Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
+#endif // JPH_DEBUG_RENDERER
+
+	// See Shape::CastRay
+	using ConvexShape::CastRay;
+	virtual bool			CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
+
+	// See: Shape::CollidePoint
+	virtual void			CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
+
+	// See: Shape::CollideSoftBodyVertices
+	virtual void			CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
+
+	// See Shape::GetTrianglesStart
+	virtual void			GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
+
+	// See Shape::GetTrianglesNext
+	virtual int				GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
+
+	// See Shape
+	virtual void			SaveBinaryState(StreamOut &inStream) const override;
+
+	// See Shape::GetStats
+	virtual Stats			GetStats() const override												{ return Stats(sizeof(*this), 0); }
+
+	// See Shape::GetVolume
+	virtual float			GetVolume() const override												{ return 4.0f / 3.0f * JPH_PI * Cubed(mRadius) + 2.0f * JPH_PI * mHalfHeightOfCylinder * Square(mRadius); }
+
+	// See Shape::IsValidScale
+	virtual bool			IsValidScale(Vec3Arg inScale) const override;
+
+	// See Shape::MakeScaleValid
+	virtual Vec3			MakeScaleValid(Vec3Arg inScale) const override;
+
+	// Register shape functions with the registry
+	static void				sRegister();
+
+protected:
+	// See: Shape::RestoreBinaryState
+	virtual void			RestoreBinaryState(StreamIn &inStream) override;
+
+private:
+	// Classes for GetSupportFunction
+	class					CapsuleNoConvex;
+	class					CapsuleWithConvex;
+
+	float					mRadius = 0.0f;
+	float					mHalfHeightOfCylinder = 0.0f;
+};
+
+JPH_NAMESPACE_END