initial commit, 4.5 stable

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

@@ -0,0 +1,126 @@
+// 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>
+#include <Jolt/Physics/PhysicsSettings.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Class that constructs a CylinderShape
+class JPH_EXPORT CylinderShapeSettings final : public ConvexShapeSettings
+{
+	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, CylinderShapeSettings)
+
+public:
+	/// Default constructor for deserialization
+							CylinderShapeSettings() = default;
+
+	/// Create a shape centered around the origin with one top at (0, -inHalfHeight, 0) and the other at (0, inHalfHeight, 0) and radius inRadius.
+	/// (internally the convex radius will be subtracted from the cylinder the total cylinder will not grow with the convex radius, but the edges of the cylinder will be rounded a bit).
+							CylinderShapeSettings(float inHalfHeight, float inRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mHalfHeight(inHalfHeight), mRadius(inRadius), mConvexRadius(inConvexRadius) { }
+
+	// See: ShapeSettings
+	virtual ShapeResult		Create() const override;
+
+	float					mHalfHeight = 0.0f;
+	float					mRadius = 0.0f;
+	float					mConvexRadius = 0.0f;
+};
+
+/// A cylinder
+class JPH_EXPORT CylinderShape final : public ConvexShape
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+							CylinderShape() : ConvexShape(EShapeSubType::Cylinder) { }
+							CylinderShape(const CylinderShapeSettings &inSettings, ShapeResult &outResult);
+
+	/// Create a shape centered around the origin with one top at (0, -inHalfHeight, 0) and the other at (0, inHalfHeight, 0) and radius inRadius.
+	/// (internally the convex radius will be subtracted from the cylinder the total cylinder will not grow with the convex radius, but the edges of the cylinder will be rounded a bit).
+							CylinderShape(float inHalfHeight, float inRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr);
+
+	/// Get half height of cylinder
+	float					GetHalfHeight() const														{ return mHalfHeight; }
+
+	/// Get radius of cylinder
+	float					GetRadius() const															{ return mRadius; }
+
+	// See Shape::GetLocalBounds
+	virtual AABox			GetLocalBounds() const override;
+
+	// See Shape::GetInnerRadius
+	virtual float			GetInnerRadius() const override												{ return min(mHalfHeight, 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 2.0f * JPH_PI * mHalfHeight * Square(mRadius); }
+
+	/// Get the convex radius of this cylinder
+	float					GetConvexRadius() const													{ return mConvexRadius; }
+
+	// 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:
+	// Class for GetSupportFunction
+	class					Cylinder;
+
+	float					mHalfHeight = 0.0f;
+	float					mRadius = 0.0f;
+	float					mConvexRadius = 0.0f;
+};
+
+JPH_NAMESPACE_END