initial commit, 4.5 stable

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

@@ -0,0 +1,135 @@
+// 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>
+#ifdef JPH_DEBUG_RENDERER
+	#include <Jolt/Renderer/DebugRenderer.h>
+#endif // JPH_DEBUG_RENDERER
+
+JPH_NAMESPACE_BEGIN
+
+/// Class that constructs a TaperedCapsuleShape
+class JPH_EXPORT TaperedCapsuleShapeSettings final : public ConvexShapeSettings
+{
+	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TaperedCapsuleShapeSettings)
+
+public:
+	/// Default constructor for deserialization
+							TaperedCapsuleShapeSettings() = default;
+
+	/// Create a tapered capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfTaperedCylinder, 0) with radius inBottomRadius and the other at (0, inHalfHeightOfTaperedCylinder, 0) with radius inTopRadius
+							TaperedCapsuleShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, const PhysicsMaterial *inMaterial = nullptr);
+
+	/// Check if the settings are valid
+	bool					IsValid() const															{ return mTopRadius > 0.0f && mBottomRadius > 0.0f && mHalfHeightOfTaperedCylinder >= 0.0f; }
+
+	/// Checks if the settings of this tapered capsule make this shape a sphere
+	bool					IsSphere() const;
+
+	// See: ShapeSettings
+	virtual ShapeResult		Create() const override;
+
+	float					mHalfHeightOfTaperedCylinder = 0.0f;
+	float					mTopRadius = 0.0f;
+	float					mBottomRadius = 0.0f;
+};
+
+/// A capsule with different top and bottom radii
+class JPH_EXPORT TaperedCapsuleShape final : public ConvexShape
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+							TaperedCapsuleShape() : ConvexShape(EShapeSubType::TaperedCapsule) { }
+							TaperedCapsuleShape(const TaperedCapsuleShapeSettings &inSettings, ShapeResult &outResult);
+
+	/// Get top radius of the tapered capsule
+	inline float			GetTopRadius() const													{ return mTopRadius; }
+
+	/// Get bottom radius of the tapered capsule
+	inline float			GetBottomRadius() const													{ return mBottomRadius; }
+
+	/// Get half height between the top and bottom sphere center
+	inline float			GetHalfHeight() const													{ return 0.5f * (mTopCenter - mBottomCenter); }
+
+	// See Shape::GetCenterOfMass
+	virtual Vec3			GetCenterOfMass() const override										{ return mCenterOfMass; }
+
+	// 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 min(mTopRadius, mBottomRadius); }
+
+	// 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;
+
+	// See: Shape::CollideSoftBodyVertices
+	virtual void			CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) 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
+	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 GetLocalBounds().GetVolume(); } // Volume is approximate!
+
+	// 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					TaperedCapsule;
+
+	/// Returns box that approximates the inertia
+	AABox					GetInertiaApproximation() const;
+
+	Vec3					mCenterOfMass = Vec3::sZero();
+	float					mTopRadius = 0.0f;
+	float					mBottomRadius = 0.0f;
+	float					mTopCenter = 0.0f;
+	float					mBottomCenter = 0.0f;
+	float					mConvexRadius = 0.0f;
+	float					mSinAlpha = 0.0f;
+	float					mTanAlpha = 0.0f;
+
+#ifdef JPH_DEBUG_RENDERER
+	mutable DebugRenderer::GeometryRef mGeometry;
+#endif // JPH_DEBUG_RENDERER
+};
+
+JPH_NAMESPACE_END