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This commit is contained in:
161
thirdparty/jolt_physics/Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h
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161
thirdparty/jolt_physics/Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Physics/Collision/Shape/DecoratedShape.h>
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#include <Jolt/Physics/Collision/Shape/ScaleHelpers.h>
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JPH_NAMESPACE_BEGIN
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class CollideShapeSettings;
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/// Class that constructs a RotatedTranslatedShape
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class JPH_EXPORT RotatedTranslatedShapeSettings final : public DecoratedShapeSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, RotatedTranslatedShapeSettings)
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public:
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/// Constructor
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RotatedTranslatedShapeSettings() = default;
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/// Construct with shape settings, can be serialized.
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RotatedTranslatedShapeSettings(Vec3Arg inPosition, QuatArg inRotation, const ShapeSettings *inShape) : DecoratedShapeSettings(inShape), mPosition(inPosition), mRotation(inRotation) { }
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/// Variant that uses a concrete shape, which means this object cannot be serialized.
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RotatedTranslatedShapeSettings(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape): DecoratedShapeSettings(inShape), mPosition(inPosition), mRotation(inRotation) { }
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// See: ShapeSettings
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virtual ShapeResult Create() const override;
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Vec3 mPosition; ///< Position of the sub shape
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Quat mRotation; ///< Rotation of the sub shape
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};
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/// A rotated translated shape will rotate and translate a child shape.
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/// Shifts the child object so that it is centered around the center of mass.
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class JPH_EXPORT RotatedTranslatedShape final : public DecoratedShape
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{
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public:
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JPH_OVERRIDE_NEW_DELETE
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/// Constructor
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RotatedTranslatedShape() : DecoratedShape(EShapeSubType::RotatedTranslated) { }
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RotatedTranslatedShape(const RotatedTranslatedShapeSettings &inSettings, ShapeResult &outResult);
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RotatedTranslatedShape(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape);
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/// Access the rotation that is applied to the inner shape
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Quat GetRotation() const { return mRotation; }
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/// Access the translation that has been applied to the inner shape
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Vec3 GetPosition() const { return mCenterOfMass - mRotation * mInnerShape->GetCenterOfMass(); }
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// See Shape::GetCenterOfMass
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virtual Vec3 GetCenterOfMass() const override { return mCenterOfMass; }
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// See Shape::GetLocalBounds
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virtual AABox GetLocalBounds() const override;
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// See Shape::GetWorldSpaceBounds
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virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
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using Shape::GetWorldSpaceBounds;
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// See Shape::GetInnerRadius
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virtual float GetInnerRadius() const override { return mInnerShape->GetInnerRadius(); }
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// See Shape::GetMassProperties
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virtual MassProperties GetMassProperties() const override;
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// See Shape::GetSubShapeTransformedShape
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virtual TransformedShape GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const override;
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// See Shape::GetSurfaceNormal
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virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
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// See Shape::GetSupportingFace
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virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
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// See Shape::GetSubmergedVolume
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virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
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#ifdef JPH_DEBUG_RENDERER
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// See Shape::Draw
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virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
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// See Shape::DrawGetSupportFunction
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virtual void DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
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// See Shape::DrawGetSupportingFace
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virtual void DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
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#endif // JPH_DEBUG_RENDERER
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// See Shape::CastRay
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virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
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virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
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// See: Shape::CollidePoint
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virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
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// See: Shape::CollideSoftBodyVertices
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virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
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// See Shape::CollectTransformedShapes
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virtual void CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
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// See Shape::TransformShape
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virtual void TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
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// See Shape::GetTrianglesStart
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virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); }
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// See Shape::GetTrianglesNext
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virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); return 0; }
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// See Shape
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virtual void SaveBinaryState(StreamOut &inStream) const override;
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// See Shape::GetStats
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virtual Stats GetStats() const override { return Stats(sizeof(*this), 0); }
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// See Shape::GetVolume
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virtual float GetVolume() const override { return mInnerShape->GetVolume(); }
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// See Shape::IsValidScale
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virtual bool IsValidScale(Vec3Arg inScale) const override;
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// See Shape::MakeScaleValid
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virtual Vec3 MakeScaleValid(Vec3Arg inScale) const override;
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/// Transform the scale to the local space of the child shape
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inline Vec3 TransformScale(Vec3Arg inScale) const
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{
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// We don't need to transform uniform scale or if the rotation is identity
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if (mIsRotationIdentity || ScaleHelpers::IsUniformScale(inScale))
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return inScale;
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return ScaleHelpers::RotateScale(mRotation, inScale);
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}
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// Register shape functions with the registry
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static void sRegister();
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protected:
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// See: Shape::RestoreBinaryState
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virtual void RestoreBinaryState(StreamIn &inStream) override;
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private:
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// Helper functions called by CollisionDispatch
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static void sCollideRotatedTranslatedVsShape(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);
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static void sCollideShapeVsRotatedTranslated(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);
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static void sCollideRotatedTranslatedVsRotatedTranslated(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);
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static void sCastRotatedTranslatedVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
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static void sCastShapeVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
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static void sCastRotatedTranslatedVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
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bool mIsRotationIdentity; ///< If mRotation is close to identity (put here because it falls in padding bytes)
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Vec3 mCenterOfMass; ///< Position of the center of mass
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Quat mRotation; ///< Rotation of the child shape
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};
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JPH_NAMESPACE_END
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