initial commit, 4.5 stable

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

@@ -0,0 +1,132 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 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 TaperedCylinderShape
+class JPH_EXPORT TaperedCylinderShapeSettings final : public ConvexShapeSettings
+{
+	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TaperedCylinderShapeSettings)
+
+public:
+	/// Default constructor for deserialization
+							TaperedCylinderShapeSettings() = default;
+
+	/// Create a tapered cylinder centered around the origin with bottom at (0, -inHalfHeightOfTaperedCylinder, 0) with radius inBottomRadius and top at (0, inHalfHeightOfTaperedCylinder, 0) with radius inTopRadius
+							TaperedCylinderShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr);
+
+	// See: ShapeSettings
+	virtual ShapeResult		Create() const override;
+
+	float					mHalfHeight = 0.0f;
+	float					mTopRadius = 0.0f;
+	float					mBottomRadius = 0.0f;
+	float					mConvexRadius = 0.0f;
+};
+
+/// A cylinder with different top and bottom radii
+class JPH_EXPORT TaperedCylinderShape final : public ConvexShape
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+							TaperedCylinderShape() : ConvexShape(EShapeSubType::TaperedCylinder) { }
+							TaperedCylinderShape(const TaperedCylinderShapeSettings &inSettings, ShapeResult &outResult);
+
+	/// Get top radius of the tapered cylinder
+	inline float			GetTopRadius() const													{ return mTopRadius; }
+
+	/// Get bottom radius of the tapered cylinder
+	inline float			GetBottomRadius() const													{ return mBottomRadius; }
+
+	/// Get convex radius of the tapered cylinder
+	inline float			GetConvexRadius() const													{ return mConvexRadius; }
+
+	/// Get half height of the tapered cylinder
+	inline float			GetHalfHeight() const													{ return 0.5f * (mTop - mBottom); }
+
+	// See Shape::GetCenterOfMass
+	virtual Vec3			GetCenterOfMass() const override										{ return Vec3(0, -0.5f * (mTop + mBottom), 0); }
+
+	// See Shape::GetLocalBounds
+	virtual AABox			GetLocalBounds() const override;
+
+	// 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::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;
+
+#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;
+
+	// 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					TaperedCylinder;
+
+	// Class for GetTrianglesTart
+	class					TCSGetTrianglesContext;
+
+	// Scale the cylinder
+	JPH_INLINE void			GetScaled(Vec3Arg inScale, float &outTop, float &outBottom, float &outTopRadius, float &outBottomRadius, float &outConvexRadius) const;
+
+	float					mTop = 0.0f;
+	float					mBottom = 0.0f;
+	float					mTopRadius = 0.0f;
+	float					mBottomRadius = 0.0f;
+	float					mConvexRadius = 0.0f;
+};
+
+JPH_NAMESPACE_END