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Jolt Physics
A multi core friendly Game Physics Engine
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Jolt Physics
A multi core friendly Game Physics Engine
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A convex hull. More...
#include <ConvexHullShape.h>
Classes | |
| class | CHSGetTrianglesContext |
| class | HullNoConvex |
| class | HullWithConvex |
| class | HullWithConvexScaled |
Static Public Member Functions | |
| static void | sRegister () |
 Static Public Member Functions inherited from ConvexShape | |
| static void | sRegister () |
| Static Public Member Functions inherited from Shape | |
| static ShapeResult | sRestoreFromBinaryState (StreamIn &inStream) |
| Creates a Shape of the correct type and restores its contents from the binary stream inStream. | |
| static ShapeResult | sRestoreWithChildren (StreamIn &inStream, IDToShapeMap &ioShapeMap, IDToMaterialMap &ioMaterialMap) |
| Restore a shape, all its children and materials. Pass in an empty map in ioShapeMap / ioMaterialMap or reuse the same map while reading multiple shapes from the same stream in order to restore duplicates. | |
| Static Public Member Functions inherited from RefTarget< Shape > | |
| static int | sInternalGetRefCountOffset () |
| INTERNAL HELPER FUNCTION USED BY SERIALIZATION. | |
Static Public Attributes | |
| static JPH_OVERRIDE_NEW_DELETE constexpr int | cMaxPointsInHull = 256 |
| static bool | sDrawFaceOutlines = false |
| Draw the outlines of the faces of the convex hull when drawing the shape. | |
| Static Public Attributes inherited from Shape | |
| static constexpr int | cGetTrianglesMinTrianglesRequested = 32 |
| This is the minimum amount of triangles that should be requested through GetTrianglesNext. | |
| static bool | sDrawSubmergedVolumes = false |
| Debug helper which draws the intersection between water and the shapes, the center of buoyancy and the submerged volume. | |
Protected Member Functions | |
| virtual void | RestoreBinaryState (StreamIn &inStream) override |
| This function should not be called directly, it is used by sRestoreFromBinaryState. | |
Additional Inherited Members | |
| Public Types inherited from ConvexShape | |
| enum class | ESupportMode { ExcludeConvexRadius , IncludeConvexRadius , Default } |
| How the GetSupport function should behave. More... | |
| Public Types inherited from Shape | |
| using | ShapeResult = ShapeSettings::ShapeResult |
| using | SupportingFace = StaticArray<Vec3, 32> |
| Type definition for a supporting face. | |
| using | VisitedShapes = UnorderedSet<const Shape *> |
| using | ShapeToIDMap = StreamUtils::ObjectToIDMap<Shape> |
| using | IDToShapeMap = StreamUtils::IDToObjectMap<Shape> |
| using | MaterialToIDMap = StreamUtils::ObjectToIDMap<PhysicsMaterial> |
| using | IDToMaterialMap = StreamUtils::IDToObjectMap<PhysicsMaterial> |
| Static Protected Member Functions inherited from Shape | |
| static void | sCollidePointUsingRayCast (const Shape &inShape, Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter) |
| A fallback version of CollidePoint that uses a ray cast and counts the number of hits to determine if the point is inside the shape. Odd number of hits means inside, even number of hits means outside. | |
| Protected Attributes inherited from RefTarget< Shape > | |
| atomic< uint32 > | mRefCount |
| Current reference count. | |
| Static Protected Attributes inherited from ConvexShape | |
| static const std::vector< Vec3 > | sUnitSphereTriangles |
| Vertex list that forms a unit sphere. | |
| Static Protected Attributes inherited from RefTarget< Shape > | |
| static constexpr uint32 | cEmbedded |
| A large value that gets added to the refcount to mark the object as embedded. | |
A convex hull.
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inline |
Constructor.
| ConvexHullShape::ConvexHullShape | ( | const ConvexHullShapeSettings & | inSettings, |
| ShapeResult & | outResult ) |
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overridevirtual |
Cast a ray against this shape. Allows returning multiple hits through ioCollector. Note that this version is more flexible but also slightly slower than the CastRay function that returns only a single hit. If you want the surface normal of the hit use GetSurfaceNormal(collected sub shape ID, inRay.GetPointOnRay(collected faction)).
Reimplemented from ConvexShape.
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overridevirtual |
Cast a ray against this shape, returns true if it finds a hit closer than ioHit.mFraction and updates that fraction. Otherwise ioHit is left untouched and the function returns false. Note that the ray should be relative to the center of mass of this shape (i.e. subtract Shape::GetCenterOfMass() from RayCast::mOrigin if you want to cast against the shape in the space it was created). Convex objects will be treated as solid (meaning if the ray starts inside, you'll get a hit fraction of 0) and back face hits against triangles are returned. If you want the surface normal of the hit use GetSurfaceNormal(ioHit.mSubShapeID2, inRay.GetPointOnRay(ioHit.mFraction)).
Reimplemented from ConvexShape.
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Check if inPoint is inside this shape. For this tests all shapes are treated as if they were solid. Note that inPoint should be relative to the center of mass of this shape (i.e. subtract Shape::GetCenterOfMass() from inPoint if you want to test against the shape in the space it was created). For a mesh shape, this test will only provide sensible information if the mesh is a closed manifold. For each shape that collides, ioCollector will receive a hit.
Reimplemented from ConvexShape.
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overridevirtual |
Collides all vertices of a soft body with this shape and updates SoftBodyVertex::mCollisionPlane, SoftBodyVertex::mCollidingShapeIndex and SoftBodyVertex::mLargestPenetration if a collision with more penetration was found.
| inCenterOfMassTransform | Center of mass transform for this shape relative to the vertices. |
| inScale | The scale to use for this shape |
| ioVertices | The vertices of the soft body |
| inNumVertices | The number of vertices in ioVertices |
| inDeltaTime | Delta time of this time step (can be used to extrapolate the position using the velocity of the particle) |
| inDisplacementDueToGravity | Displacement due to gravity during this time step |
| inCollidingShapeIndex | Value to store in SoftBodyVertex::mCollidingShapeIndex when a collision was found |
Implements Shape.
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overridevirtual |
Draw the shape at a particular location with a particular color (debugging purposes)
Implements Shape.
| void ConvexHullShape::DrawShrunkShape | ( | DebugRenderer * | inRenderer, |
| RMat44Arg | inCenterOfMassTransform, | ||
| Vec3Arg | inScale ) const |
Debugging helper draw function that draws how all points are moved when a shape is shrunk by the convex radius.
All shapes are centered around their center of mass. This function returns the center of mass position that needs to be applied to transform the shape to where it was created.
Reimplemented from Shape.
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inline |
Get the convex radius of this convex hull.
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Get the vertices indices of a face
| inFaceIndex | Index of the face. |
| inMaxVertices | Maximum number of vertices to return. |
| outVertices | Array of vertices indices, must be at least inMaxVertices in size, the vertices are returned in counter clockwise order and the positions can be obtained using GetPoint(index). |
Returns the radius of the biggest sphere that fits entirely in the shape. In case this shape consists of multiple sub shapes, it returns the smallest sphere of the parts. This can be used as a measure of how far the shape can be moved without risking going through geometry.
Implements Shape.
Get local bounding box including convex radius, this box is centered around the center of mass rather than the world transform.
Implements Shape.
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Calculate the mass and inertia of this shape.
Implements Shape.
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Get the number of faces in this convex hull.
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inline |
Get the number of vertices in this convex hull.
Get the number of vertices in a face.
Get the planes of this convex hull.
Get a vertex of this convex hull relative to the center of mass.
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overridevirtual |
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from child shapes, use GetStatsRecursive for this.
Implements Shape.
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overridevirtual |
Reimplemented from ConvexShape.
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Returns an object that provides the GetSupport function for this shape. inMode determines if this support function includes or excludes the convex radius. of the values returned by the GetSupport function. This improves numerical accuracy of the results. inScale scales this shape in local space.
Implements ConvexShape.
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Get the vertices of the face that faces inDirection the most (includes any convex radius). Note that this function can only return faces of convex shapes or triangles, which is why a sub shape ID to get to that leaf must be provided.
| inSubShapeID | Sub shape ID of target shape |
| inDirection | Direction that the face should be facing (in local space to this shape) |
| inCenterOfMassTransform | Transform to transform outVertices with |
| inScale | Scale of this shape |
| outVertices | Resulting face. The returned face can be empty if the shape doesn't have polygons to return (e.g. because it's a sphere). The face will be returned in world space. |
Reimplemented from Shape.
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Get the surface normal of a particular sub shape ID and point on surface (all vectors are relative to center of mass for this shape). Note: When you have a CollideShapeResult or ShapeCastResult you should use -mPenetrationAxis.Normalized() as contact normal as GetSurfaceNormal will only return face normals (and not vertex or edge normals).
Implements Shape.
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overridevirtual |
Call this repeatedly to get all triangles in the box. outTriangleVertices should be large enough to hold 3 * inMaxTriangleRequested entries. outMaterials (if it is not null) should contain inMaxTrianglesRequested entries. The function returns the amount of triangles that it found (which will be <= inMaxTrianglesRequested), or 0 if there are no more triangles. Note that the function can return a value < inMaxTrianglesRequested and still have more triangles to process (triangles can be returned in blocks). Note that the function may return triangles outside of the requested box, only coarse culling is performed on the returned triangles.
Reimplemented from ConvexShape.
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overridevirtual |
To start iterating over triangles, call this function first. ioContext is a temporary buffer and should remain untouched until the last call to GetTrianglesNext. inBox is the world space bounding in which you want to get the triangles. inPositionCOM/inRotation/inScale describes the transform of this shape. To get the actual triangles call GetTrianglesNext.
Reimplemented from ConvexShape.
This function should not be called directly, it is used by sRestoreFromBinaryState.
Reimplemented from ConvexShape.
Saves the contents of the shape in binary form to inStream.
Reimplemented from ConvexShape.
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staticconstexpr |
Maximum amount of points supported in a convex hull. Note that while constructing a hull, interior points are discarded so you can provide more points. The ConvexHullShapeSettings::Create function will return an error when too many points are provided.
Draw the outlines of the faces of the convex hull when drawing the shape.
1.10.0