ConvexShape.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Core/StaticArray.h>
#include <Jolt/Physics/Collision/Shape/Shape.h>
#include <Jolt/Physics/Collision/Shape/SubShapeID.h>
#include <Jolt/Physics/Collision/PhysicsMaterial.h>
 
JPH_NAMESPACE_BEGIN
 
class CollideShapeSettings;
 
class ConvexShapeSettings : public ShapeSettings
{
public:
    JPH_DECLARE_SERIALIZABLE_ABSTRACT(ConvexShapeSettings)
 
    
                                    ConvexShapeSettings() = default;
    explicit                        ConvexShapeSettings(const PhysicsMaterial *inMaterial)      : mMaterial(inMaterial) { }
 
    void                            SetDensity(float inDensity)                                 { mDensity = inDensity; }
 
    // Properties
    RefConst<PhysicsMaterial>       mMaterial;                                                  
    float                           mDensity = 1000.0f;                                         
};
 
class ConvexShape : public Shape
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
    explicit                        ConvexShape(EShapeSubType inSubType) : Shape(EShapeType::Convex, inSubType) { }
                                    ConvexShape(EShapeSubType inSubType, const ConvexShapeSettings &inSettings, ShapeResult &outResult) : Shape(EShapeType::Convex, inSubType, inSettings, outResult), mMaterial(inSettings.mMaterial), mDensity(inSettings.mDensity) { }
                                    ConvexShape(EShapeSubType inSubType, const PhysicsMaterial *inMaterial) : Shape(EShapeType::Convex, inSubType), mMaterial(inMaterial) { }
 
    // See Shape::GetSubShapeIDBitsRecursive
    virtual uint                    GetSubShapeIDBitsRecursive() const override                 { return 0; } // Convex shapes don't have sub shapes
 
    // See Shape::GetMaterial
    virtual const PhysicsMaterial * GetMaterial(const SubShapeID &inSubShapeID) const override  { JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID"); return GetMaterial(); }
 
    // See Shape::CastRay
    virtual bool                    CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
    virtual void                    CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
    // See: Shape::CollidePoint
    virtual void                    CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) 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;
 
    // See Shape::GetSubmergedVolume
    virtual void                    GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
 
    class Support
    {
    public:
        virtual                     ~Support() = default;
 
        virtual Vec3                GetSupport(Vec3Arg inDirection) const = 0;
 
        virtual float               GetConvexRadius() const = 0;
    };
 
    class alignas(16) SupportBuffer
    {
    public:
        uint8                       mData[4160];
    };
 
    enum class ESupportMode 
    {
        ExcludeConvexRadius,        
        IncludeConvexRadius,        
    };
 
    virtual const Support *         GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const = 0;
 
    void                            SetMaterial(const PhysicsMaterial *inMaterial)              { mMaterial = inMaterial; }
    const PhysicsMaterial *         GetMaterial() const                                         { return mMaterial != nullptr? mMaterial : PhysicsMaterial::sDefault; }
 
    void                            SetDensity(float inDensity)                                 { mDensity = inDensity; }
 
    float                           GetDensity() const                                          { return mDensity; }
 
#ifdef JPH_DEBUG_RENDERER
    // See Shape::DrawGetSupportFunction
    virtual void                    DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
 
    // See Shape::DrawGetSupportingFace
    virtual void                    DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
#endif // JPH_DEBUG_RENDERER
 
    // See Shape
    virtual void                    SaveBinaryState(StreamOut &inStream) const override;
    virtual void                    SaveMaterialState(PhysicsMaterialList &outMaterials) const override;
    virtual void                    RestoreMaterialState(const PhysicsMaterialRefC *inMaterials, uint inNumMaterials) override;
 
    // Register shape functions with the registry
    static void                     sRegister();
 
protected:
    // See: Shape::RestoreBinaryState
    virtual void                    RestoreBinaryState(StreamIn &inStream) override;
 
    static const std::vector<Vec3>  sUnitSphereTriangles;
 
private:
    // Class for GetTrianglesStart/Next
    class                           CSGetTrianglesContext;
 
    // Helper functions called by CollisionDispatch
    static void                     sCollideConvexVsConvex(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);
    static void                     sCastConvexVsConvex(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 
    // Properties
    RefConst<PhysicsMaterial>       mMaterial;                                                  
    float                           mDensity = 1000.0f;                                         
};
 
JPH_NAMESPACE_END