initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Physics/SoftBody/SoftBodyManifold.h

@@ -0,0 +1,74 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// An interface to query which vertices of a soft body are colliding with other bodies
+class SoftBodyManifold
+{
+public:
+	/// Get the vertices of the soft body for iterating
+	const Array<SoftBodyVertex> &	GetVertices() const							{ return mVertices; }
+
+	/// Check if a vertex has collided with something in this update
+	JPH_INLINE bool					HasContact(const SoftBodyVertex &inVertex) const
+	{
+		return inVertex.mHasContact;
+	}
+
+	/// Get the local space contact point (multiply by GetCenterOfMassTransform() of the soft body to get world space)
+	JPH_INLINE Vec3					GetLocalContactPoint(const SoftBodyVertex &inVertex) const
+	{
+		return inVertex.mPosition - inVertex.mCollisionPlane.SignedDistance(inVertex.mPosition) * inVertex.mCollisionPlane.GetNormal();
+	}
+
+	/// Get the contact normal for the vertex (assumes there is a contact).
+	JPH_INLINE Vec3					GetContactNormal(const SoftBodyVertex &inVertex) const
+	{
+		return -inVertex.mCollisionPlane.GetNormal();
+	}
+
+	/// Get the body with which the vertex has collided in this update
+	JPH_INLINE BodyID				GetContactBodyID(const SoftBodyVertex &inVertex) const
+	{
+		return inVertex.mHasContact? mCollidingShapes[inVertex.mCollidingShapeIndex].mBodyID : BodyID();
+	}
+
+	/// Get the number of sensors that are in contact with the soft body
+	JPH_INLINE uint					GetNumSensorContacts() const
+	{
+		return (uint)mCollidingSensors.size();
+	}
+
+	/// Get the i-th sensor that is in contact with the soft body
+	JPH_INLINE BodyID				GetSensorContactBodyID(uint inIndex) const
+	{
+		return mCollidingSensors[inIndex].mBodyID;
+	}
+
+private:
+	/// Allow SoftBodyMotionProperties to construct us
+	friend class SoftBodyMotionProperties;
+
+	/// Constructor
+	explicit						SoftBodyManifold(const SoftBodyMotionProperties *inMotionProperties) :
+										mVertices(inMotionProperties->mVertices),
+										mCollidingShapes(inMotionProperties->mCollidingShapes),
+										mCollidingSensors(inMotionProperties->mCollidingSensors)
+	{
+	}
+
+	using CollidingShape = SoftBodyMotionProperties::CollidingShape;
+	using CollidingSensor = SoftBodyMotionProperties::CollidingSensor;
+
+	const Array<SoftBodyVertex> &	mVertices;
+	const Array<CollidingShape>	&	mCollidingShapes;
+	const Array<CollidingSensor> &	mCollidingSensors;
+};
+
+JPH_NAMESPACE_END