initial commit, 4.5 stable

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

@@ -0,0 +1,150 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Core/StaticArray.h>
+#include <Jolt/Physics/Collision/Shape/Shape.h>
+#include <Jolt/Physics/Collision/Shape/SubShapeID.h>
+#include <Jolt/Physics/Collision/PhysicsMaterial.h>
+
+JPH_NAMESPACE_BEGIN
+
+class CollideShapeSettings;
+
+/// Class that constructs a ConvexShape (abstract)
+class JPH_EXPORT ConvexShapeSettings : public ShapeSettings
+{
+	JPH_DECLARE_SERIALIZABLE_ABSTRACT(JPH_EXPORT, ConvexShapeSettings)
+
+public:
+	/// Constructor
+									ConvexShapeSettings() = default;
+	explicit						ConvexShapeSettings(const PhysicsMaterial *inMaterial)		: mMaterial(inMaterial) { }
+
+	/// Set the density of the object in kg / m^3
+	void							SetDensity(float inDensity)									{ mDensity = inDensity; }
+
+	// Properties
+	RefConst<PhysicsMaterial>		mMaterial;													///< Material assigned to this shape
+	float							mDensity = 1000.0f;											///< Uniform density of the interior of the convex object (kg / m^3)
+};
+
+/// Base class for all convex shapes. Defines a virtual interface.
+class JPH_EXPORT ConvexShape : public Shape
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+	explicit						ConvexShape(EShapeSubType inSubType) : Shape(EShapeType::Convex, inSubType) { }
+									ConvexShape(EShapeSubType inSubType, const ConvexShapeSettings &inSettings, ShapeResult &outResult) : Shape(EShapeType::Convex, inSubType, inSettings, outResult), mMaterial(inSettings.mMaterial), mDensity(inSettings.mDensity) { }
+									ConvexShape(EShapeSubType inSubType, const PhysicsMaterial *inMaterial) : Shape(EShapeType::Convex, inSubType), mMaterial(inMaterial) { }
+
+	// See Shape::GetSubShapeIDBitsRecursive
+	virtual uint					GetSubShapeIDBitsRecursive() const override					{ return 0; } // Convex shapes don't have sub shapes
+
+	// See Shape::GetMaterial
+	virtual const PhysicsMaterial *	GetMaterial([[maybe_unused]] const SubShapeID &inSubShapeID) const override	{ JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID"); return GetMaterial(); }
+
+	// See Shape::CastRay
+	virtual bool					CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
+	virtual void					CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
+
+	// See: Shape::CollidePoint
+	virtual void					CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) 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::GetSubmergedVolume
+	virtual void					GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
+
+	/// Function that provides an interface for GJK
+	class Support
+	{
+	public:
+		/// Warning: Virtual destructor will not be called on this object!
+		virtual						~Support() = default;
+
+		/// Calculate the support vector for this convex shape (includes / excludes the convex radius depending on how this was obtained).
+		/// Support vector is relative to the center of mass of the shape.
+		virtual Vec3				GetSupport(Vec3Arg inDirection) const = 0;
+
+		/// Convex radius of shape. Collision detection on penetrating shapes is much more expensive,
+		/// so you can add a radius around objects to increase the shape. This makes it far less likely that they will actually penetrate.
+		virtual float				GetConvexRadius() const = 0;
+	};
+
+	/// Buffer to hold a Support object, used to avoid dynamic memory allocations
+	class alignas(16) SupportBuffer
+	{
+	public:
+		uint8						mData[4160];
+	};
+
+	/// How the GetSupport function should behave
+	enum class ESupportMode
+	{
+		ExcludeConvexRadius,		///< Return the shape excluding the convex radius, Support::GetConvexRadius will return the convex radius if there is one, but adding this radius may not result in the most accurate/efficient representation of shapes with sharp edges
+		IncludeConvexRadius,		///< Return the shape including the convex radius, Support::GetSupport includes the convex radius if there is one, Support::GetConvexRadius will return 0
+		Default,					///< Use both Support::GetSupport add Support::GetConvexRadius to get a support point that matches the original shape as accurately/efficiently as possible
+	};
+
+	/// Returns an object that provides the GetSupport function for this shape.
+	/// inMode determines if this support function includes or excludes the convex radius.
+	/// of the values returned by the GetSupport function. This improves numerical accuracy of the results.
+	/// inScale scales this shape in local space.
+	virtual const Support *			GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const = 0;
+
+	/// Material of the shape
+	void							SetMaterial(const PhysicsMaterial *inMaterial)				{ mMaterial = inMaterial; }
+	const PhysicsMaterial *			GetMaterial() const											{ return mMaterial != nullptr? mMaterial : PhysicsMaterial::sDefault; }
+
+	/// Set density of the shape (kg / m^3)
+	void							SetDensity(float inDensity)									{ mDensity = inDensity; }
+
+	/// Get density of the shape (kg / m^3)
+	float							GetDensity() const											{ return mDensity; }
+
+#ifdef JPH_DEBUG_RENDERER
+	// See Shape::DrawGetSupportFunction
+	virtual void					DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
+
+	// See Shape::DrawGetSupportingFace
+	virtual void					DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
+#endif // JPH_DEBUG_RENDERER
+
+	// See Shape
+	virtual void					SaveBinaryState(StreamOut &inStream) const override;
+	virtual void					SaveMaterialState(PhysicsMaterialList &outMaterials) const override;
+	virtual void					RestoreMaterialState(const PhysicsMaterialRefC *inMaterials, uint inNumMaterials) override;
+
+	// Register shape functions with the registry
+	static void						sRegister();
+
+protected:
+	// See: Shape::RestoreBinaryState
+	virtual void					RestoreBinaryState(StreamIn &inStream) override;
+
+	/// Vertex list that forms a unit sphere
+	static const StaticArray<Vec3, 384> sUnitSphereTriangles;
+
+private:
+	// Class for GetTrianglesStart/Next
+	class							CSGetTrianglesContext;
+
+	// Helper functions called by CollisionDispatch
+	static void						sCollideConvexVsConvex(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
+	static void						sCastConvexVsConvex(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
+
+	// Properties
+	RefConst<PhysicsMaterial>		mMaterial;													///< Material assigned to this shape
+	float							mDensity = 1000.0f;											///< Uniform density of the interior of the convex object (kg / m^3)
+};
+
+JPH_NAMESPACE_END