initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Physics/Collision/RayCast.h

@@ -0,0 +1,87 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Collision/BackFaceMode.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Structure that holds a single ray cast
+template <class Vec, class Mat, class RayCastType>
+struct RayCastT
+{
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructors
+								RayCastT() = default; // Allow raycast to be created uninitialized
+								RayCastT(typename Vec::ArgType inOrigin, Vec3Arg inDirection) : mOrigin(inOrigin), mDirection(inDirection) { }
+								RayCastT(const RayCastT<Vec, Mat, RayCastType> &) = default;
+
+	/// Transform this ray using inTransform
+	RayCastType					Transformed(typename Mat::ArgType inTransform) const
+	{
+		Vec ray_origin = inTransform * mOrigin;
+		Vec3 ray_direction(inTransform * (mOrigin + mDirection) - ray_origin);
+		return { ray_origin, ray_direction };
+	}
+
+	/// Translate ray using inTranslation
+	RayCastType					Translated(typename Vec::ArgType inTranslation) const
+	{
+		return { inTranslation + mOrigin, mDirection };
+	}
+
+	/// Get point with fraction inFraction on ray (0 = start of ray, 1 = end of ray)
+	inline Vec					GetPointOnRay(float inFraction) const
+	{
+		return mOrigin + inFraction * mDirection;
+	}
+
+	Vec							mOrigin;					///< Origin of the ray
+	Vec3						mDirection;					///< Direction and length of the ray (anything beyond this length will not be reported as a hit)
+};
+
+struct RayCast : public RayCastT<Vec3, Mat44, RayCast>
+{
+	using RayCastT<Vec3, Mat44, RayCast>::RayCastT;
+};
+
+struct RRayCast : public RayCastT<RVec3, RMat44, RRayCast>
+{
+	using RayCastT<RVec3, RMat44, RRayCast>::RayCastT;
+
+	/// Convert from RayCast, converts single to double precision
+	explicit					RRayCast(const RayCast &inRay) :
+		RRayCast(RVec3(inRay.mOrigin), inRay.mDirection)
+	{
+	}
+
+	/// Convert to RayCast, which implies casting from double precision to single precision
+	explicit					operator RayCast() const
+	{
+		return RayCast(Vec3(mOrigin), mDirection);
+	}
+};
+
+/// Settings to be passed with a ray cast
+class RayCastSettings
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Set the backfacing mode for all shapes
+	void						SetBackFaceMode(EBackFaceMode inMode) { mBackFaceModeTriangles = mBackFaceModeConvex = inMode; }
+
+	/// How backfacing triangles should be treated (should we report back facing hits for triangle based shapes, e.g. MeshShape/HeightFieldShape?)
+	EBackFaceMode				mBackFaceModeTriangles		= EBackFaceMode::IgnoreBackFaces;
+
+	/// How backfacing convex objects should be treated (should we report back facing hits for convex shapes?)
+	EBackFaceMode				mBackFaceModeConvex			= EBackFaceMode::IgnoreBackFaces;
+
+	/// If convex shapes should be treated as solid. When true, a ray starting inside a convex shape will generate a hit at fraction 0.
+	bool						mTreatConvexAsSolid			= true;
+};
+
+JPH_NAMESPACE_END