Jolt Physics
A multi core friendly Game Physics Engine
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CapsuleShape.h
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1// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
2// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
3// SPDX-License-Identifier: MIT
4
5#pragma once
6
8
10
13{
15
16public:
19
21 CapsuleShapeSettings(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { }
22
24 bool IsValid() const { return mRadius > 0.0f && mHalfHeightOfCylinder >= 0.0f; }
25
27 bool IsSphere() const { return mHalfHeightOfCylinder == 0.0f; }
28
29 // See: ShapeSettings
30 virtual ShapeResult Create() const override;
31
32 float mRadius = 0.0f;
33 float mHalfHeightOfCylinder = 0.0f;
34};
35
38{
39public:
41
44 CapsuleShape(const CapsuleShapeSettings &inSettings, ShapeResult &outResult);
45
47 CapsuleShape(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Capsule, inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { JPH_ASSERT(inHalfHeightOfCylinder > 0.0f); JPH_ASSERT(inRadius > 0.0f); }
48
50 float GetRadius() const { return mRadius; }
51
53 float GetHalfHeightOfCylinder() const { return mHalfHeightOfCylinder; }
54
55 // See Shape::GetLocalBounds
56 virtual AABox GetLocalBounds() const override;
57
58 // See Shape::GetWorldSpaceBounds
59 virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
61
62 // See Shape::GetInnerRadius
63 virtual float GetInnerRadius() const override { return mRadius; }
64
65 // See Shape::GetMassProperties
66 virtual MassProperties GetMassProperties() const override;
67
68 // See Shape::GetSurfaceNormal
69 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
70
71 // See Shape::GetSupportingFace
72 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
73
74 // See ConvexShape::GetSupportFunction
75 virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
76
77#ifdef JPH_DEBUG_RENDERER
78 // See Shape::Draw
79 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
80#endif // JPH_DEBUG_RENDERER
81
82 // See Shape::CastRay
84 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
85
86 // See: Shape::CollidePoint
87 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
88
89 // See: Shape::CollideSoftBodyVertices
90 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
91
92 // See Shape::GetTrianglesStart
93 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
94
95 // See Shape::GetTrianglesNext
96 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
97
98 // See Shape
99 virtual void SaveBinaryState(StreamOut &inStream) const override;
100
101 // See Shape::GetStats
102 virtual Stats GetStats() const override { return Stats(sizeof(*this), 0); }
103
104 // See Shape::GetVolume
105 virtual float GetVolume() const override { return 4.0f / 3.0f * JPH_PI * Cubed(mRadius) + 2.0f * JPH_PI * mHalfHeightOfCylinder * Square(mRadius); }
106
107 // See Shape::IsValidScale
108 virtual bool IsValidScale(Vec3Arg inScale) const override;
109
110 // See Shape::MakeScaleValid
111 virtual Vec3 MakeScaleValid(Vec3Arg inScale) const override;
112
113 // Register shape functions with the registry
114 static void sRegister();
115
116protected:
117 // See: Shape::RestoreBinaryState
118 virtual void RestoreBinaryState(StreamIn &inStream) override;
119
120private:
121 // Classes for GetSupportFunction
122 class CapsuleNoConvex;
123 class CapsuleWithConvex;
124
125 float mRadius = 0.0f;
126 float mHalfHeightOfCylinder = 0.0f;
127};
128
#define JPH_EXPORT
Definition Core.h:271
unsigned int uint
Definition Core.h:481
#define JPH_NAMESPACE_END
Definition Core.h:414
#define JPH_NAMESPACE_BEGIN
Definition Core.h:408
#define JPH_ASSERT(...)
Definition IssueReporting.h:33
JPH_INLINE constexpr T Square(T inV)
Square a value.
Definition Math.h:55
JPH_INLINE constexpr T Cubed(T inV)
Returns .
Definition Math.h:62
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition Memory.h:31
#define JPH_DECLARE_SERIALIZABLE_VIRTUAL(linkage, class_name)
Definition SerializableObject.h:109
EShapeSubType
This enumerates all shape types, each shape can return its type through Shape::GetSubType.
Definition Shape.h:77
Axis aligned box.
Definition AABox.h:16
A capsule, implemented as a line segment with convex radius.
Definition CapsuleShape.h:38
float GetHalfHeightOfCylinder() const
Get half of the height of the cylinder.
Definition CapsuleShape.h:53
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition CapsuleShape.h:102
float GetRadius() const
Radius of the cylinder.
Definition CapsuleShape.h:50
CapsuleShape(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial=nullptr)
Create a capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfCylinder,...
Definition CapsuleShape.h:47
JPH_OVERRIDE_NEW_DELETE CapsuleShape()
Constructor.
Definition CapsuleShape.h:43
virtual float GetVolume() const override
Definition CapsuleShape.h:105
virtual float GetInnerRadius() const override
Definition CapsuleShape.h:63
Class that constructs a CapsuleShape.
Definition CapsuleShape.h:13
CapsuleShapeSettings()=default
Default constructor for deserialization.
bool IsValid() const
Check if this is a valid capsule shape.
Definition CapsuleShape.h:24
CapsuleShapeSettings(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial=nullptr)
Create a capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfCylinder,...
Definition CapsuleShape.h:21
bool IsSphere() const
Checks if the settings of this capsule make this shape a sphere.
Definition CapsuleShape.h:27
Definition CollideSoftBodyVertexIterator.h:15
Virtual interface that allows collecting multiple collision results.
Definition CollisionCollector.h:45
Class that holds an RGBA color with 8-bits per component.
Definition Color.h:16
Base class for all convex shapes. Defines a virtual interface.
Definition ConvexShape.h:36
virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override
Definition ConvexShape.cpp:159
Class that constructs a ConvexShape (abstract)
Definition ConvexShape.h:18
Definition DebugRenderer.h:47
Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.
Definition Float3.h:13
Describes the mass and inertia properties of a body. Used during body construction only.
Definition MassProperties.h:16
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition Mat44.h:13
Definition PhysicsMaterial.h:23
Definition Quat.h:33
Specialization of cast result against a shape.
Definition CastResult.h:30
Filter class.
Definition ShapeFilter.h:17
virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
Definition Shape.h:222
virtual ShapeResult Create() const =0
Create a shape according to the settings specified by this object.
Simple binary input stream.
Definition StreamIn.h:13
Simple binary output stream.
Definition StreamOut.h:13
Definition SubShapeID.h:108
A sub shape id contains a path to an element (usually a triangle or other primitive type) of a compou...
Definition SubShapeID.h:23
Definition Vec3.h:17
Definition RayCast.h:47
Class that holds information about the shape that can be used for logging / data collection purposes.
Definition Shape.h:408