initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Physics/Vehicle/VehicleCollisionTester.h

@@ -0,0 +1,146 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Body/Body.h>
+#include <Jolt/Core/NonCopyable.h>
+
+JPH_NAMESPACE_BEGIN
+
+class PhysicsSystem;
+class VehicleConstraint;
+class BroadPhaseLayerFilter;
+class ObjectLayerFilter;
+class BodyFilter;
+
+/// Class that does collision detection between wheels and ground
+class JPH_EXPORT VehicleCollisionTester : public RefTarget<VehicleCollisionTester>, public NonCopyable
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructors
+									VehicleCollisionTester() = default;
+	explicit						VehicleCollisionTester(ObjectLayer inObjectLayer) : mObjectLayer(inObjectLayer) { }
+
+	/// Virtual destructor
+	virtual							~VehicleCollisionTester() = default;
+
+	/// Object layer to use for collision detection, this is used when the filters are not overridden
+	ObjectLayer						GetObjectLayer() const												{ return mObjectLayer; }
+	void							SetObjectLayer(ObjectLayer inObjectLayer)							{ mObjectLayer = inObjectLayer; }
+
+	/// Access to the broad phase layer filter, when set this overrides the object layer supplied in the constructor
+	void							SetBroadPhaseLayerFilter(const BroadPhaseLayerFilter *inFilter)		{ mBroadPhaseLayerFilter = inFilter; }
+	const BroadPhaseLayerFilter *	GetBroadPhaseLayerFilter() const									{ return mBroadPhaseLayerFilter; }
+
+	/// Access to the object layer filter, when set this overrides the object layer supplied in the constructor
+	void							SetObjectLayerFilter(const ObjectLayerFilter *inFilter)				{ mObjectLayerFilter = inFilter; }
+	const ObjectLayerFilter *		GetObjectLayerFilter() const										{ return mObjectLayerFilter; }
+
+	/// Access to the body filter, when set this overrides the default filter that filters out the vehicle body
+	void							SetBodyFilter(const BodyFilter *inFilter)							{ mBodyFilter = inFilter; }
+	const BodyFilter *				GetBodyFilter() const												{ return mBodyFilter; }
+
+	/// Do a collision test with the world
+	/// @param inPhysicsSystem The physics system that should be tested against
+	/// @param inVehicleConstraint The vehicle constraint
+	/// @param inWheelIndex Index of the wheel that we're testing collision for
+	/// @param inOrigin Origin for the test, corresponds to the world space position for the suspension attachment point
+	/// @param inDirection Direction for the test (unit vector, world space)
+	/// @param inVehicleBodyID This body should be filtered out during collision detection to avoid self collisions
+	/// @param outBody Body that the wheel collided with
+	/// @param outSubShapeID Sub shape ID that the wheel collided with
+	/// @param outContactPosition Contact point between wheel and floor, in world space
+	/// @param outContactNormal Contact normal between wheel and floor, pointing away from the floor
+	/// @param outSuspensionLength New length of the suspension [0, inSuspensionMaxLength]
+	/// @return True when collision found, false if not
+	virtual bool					Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const = 0;
+
+	/// Do a cheap contact properties prediction based on the contact properties from the last collision test (provided as input parameters)
+	/// @param inPhysicsSystem The physics system that should be tested against
+	/// @param inVehicleConstraint The vehicle constraint
+	/// @param inWheelIndex Index of the wheel that we're testing collision for
+	/// @param inOrigin Origin for the test, corresponds to the world space position for the suspension attachment point
+	/// @param inDirection Direction for the test (unit vector, world space)
+	/// @param inVehicleBodyID The body ID for the vehicle itself
+	/// @param ioBody Body that the wheel previously collided with
+	/// @param ioSubShapeID Sub shape ID that the wheel collided with during the last check
+	/// @param ioContactPosition Contact point between wheel and floor during the last check, in world space
+	/// @param ioContactNormal Contact normal between wheel and floor during the last check, pointing away from the floor
+	/// @param ioSuspensionLength New length of the suspension [0, inSuspensionMaxLength]
+	virtual void					PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const = 0;
+
+protected:
+	const BroadPhaseLayerFilter	*	mBroadPhaseLayerFilter = nullptr;
+	const ObjectLayerFilter *		mObjectLayerFilter = nullptr;
+	const BodyFilter *				mBodyFilter = nullptr;
+	ObjectLayer						mObjectLayer = cObjectLayerInvalid;
+};
+
+/// Collision tester that tests collision using a raycast
+class JPH_EXPORT VehicleCollisionTesterRay : public VehicleCollisionTester
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+	/// @param inObjectLayer Object layer to test collision with
+	/// @param inUp World space up vector, used to avoid colliding with vertical walls.
+	/// @param inMaxSlopeAngle Max angle (rad) that is considered for colliding wheels. This is to avoid colliding with vertical walls.
+									VehicleCollisionTesterRay(ObjectLayer inObjectLayer, Vec3Arg inUp = Vec3::sAxisY(), float inMaxSlopeAngle = DegreesToRadians(80.0f)) : VehicleCollisionTester(inObjectLayer), mUp(inUp), mCosMaxSlopeAngle(Cos(inMaxSlopeAngle)) { }
+
+	// See: VehicleCollisionTester
+	virtual bool					Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override;
+	virtual void					PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override;
+
+private:
+	Vec3							mUp;
+	float							mCosMaxSlopeAngle;
+};
+
+/// Collision tester that tests collision using a sphere cast
+class JPH_EXPORT VehicleCollisionTesterCastSphere : public VehicleCollisionTester
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+	/// @param inObjectLayer Object layer to test collision with
+	/// @param inUp World space up vector, used to avoid colliding with vertical walls.
+	/// @param inRadius Radius of sphere
+	/// @param inMaxSlopeAngle Max angle (rad) that is considered for colliding wheels. This is to avoid colliding with vertical walls.
+									VehicleCollisionTesterCastSphere(ObjectLayer inObjectLayer, float inRadius, Vec3Arg inUp = Vec3::sAxisY(), float inMaxSlopeAngle = DegreesToRadians(80.0f)) : VehicleCollisionTester(inObjectLayer), mRadius(inRadius), mUp(inUp), mCosMaxSlopeAngle(Cos(inMaxSlopeAngle)) { }
+
+	// See: VehicleCollisionTester
+	virtual bool					Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override;
+	virtual void					PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override;
+
+private:
+	float							mRadius;
+	Vec3							mUp;
+	float							mCosMaxSlopeAngle;
+};
+
+/// Collision tester that tests collision using a cylinder shape
+class JPH_EXPORT VehicleCollisionTesterCastCylinder : public VehicleCollisionTester
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+	/// @param inObjectLayer Object layer to test collision with
+	/// @param inConvexRadiusFraction Fraction of half the wheel width (or wheel radius if it is smaller) that is used as the convex radius
+									VehicleCollisionTesterCastCylinder(ObjectLayer inObjectLayer, float inConvexRadiusFraction = 0.1f) : VehicleCollisionTester(inObjectLayer), mConvexRadiusFraction(inConvexRadiusFraction) { JPH_ASSERT(mConvexRadiusFraction >= 0.0f && mConvexRadiusFraction <= 1.0f); }
+
+	// See: VehicleCollisionTester
+	virtual bool					Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override;
+	virtual void					PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override;
+
+private:
+	float							mConvexRadiusFraction;
+};
+
+JPH_NAMESPACE_END