ContactListener.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/Physics/Collision/Shape/SubShapeIDPair.h>
#include <Jolt/Core/StaticArray.h>
 
JPH_NAMESPACE_BEGIN
 
class Body;
class CollideShapeResult;
 
using ContactPoints = StaticArray<Vec3, 64>;
 
class ContactManifold
{
public:
    ContactManifold         SwapShapes() const                  { return { mBaseOffset, -mWorldSpaceNormal, mPenetrationDepth, mSubShapeID2, mSubShapeID1, mRelativeContactPointsOn2, mRelativeContactPointsOn1 }; }
 
    inline RVec3            GetWorldSpaceContactPointOn1(uint inIndex) const { return mBaseOffset + mRelativeContactPointsOn1[inIndex]; }
    inline RVec3            GetWorldSpaceContactPointOn2(uint inIndex) const { return mBaseOffset + mRelativeContactPointsOn2[inIndex]; }
 
    RVec3                   mBaseOffset;                        
    Vec3                    mWorldSpaceNormal;                  
    float                   mPenetrationDepth;                  
    SubShapeID              mSubShapeID1;                       
    SubShapeID              mSubShapeID2;
    ContactPoints           mRelativeContactPointsOn1;          
    ContactPoints           mRelativeContactPointsOn2;          
};
 
class ContactSettings
{
public:
    float                   mCombinedFriction;                  
    float                   mCombinedRestitution;               
    float                   mInvMassScale1 = 1.0f;              
    float                   mInvInertiaScale1 = 1.0f;           
    float                   mInvMassScale2 = 1.0f;              
    float                   mInvInertiaScale2 = 1.0f;           
    bool                    mIsSensor;                          
    Vec3                    mRelativeLinearSurfaceVelocity = Vec3::sZero(); 
    Vec3                    mRelativeAngularSurfaceVelocity = Vec3::sZero(); 
};
 
enum class ValidateResult
{
    AcceptAllContactsForThisBodyPair,                           
    AcceptContact,                                              
    RejectContact,                                              
    RejectAllContactsForThisBodyPair                            
};
 
class ContactListener
{
public:
    virtual                 ~ContactListener() = default;
 
    virtual ValidateResult  OnContactValidate([[maybe_unused]] const Body &inBody1, [[maybe_unused]] const Body &inBody2, [[maybe_unused]] RVec3Arg inBaseOffset, [[maybe_unused]] const CollideShapeResult &inCollisionResult) { return ValidateResult::AcceptAllContactsForThisBodyPair; }
 
    virtual void            OnContactAdded([[maybe_unused]] const Body &inBody1, [[maybe_unused]] const Body &inBody2, [[maybe_unused]] const ContactManifold &inManifold, [[maybe_unused]] ContactSettings &ioSettings) { /* Do nothing */ }
 
    virtual void            OnContactPersisted([[maybe_unused]] const Body &inBody1, [[maybe_unused]] const Body &inBody2, [[maybe_unused]] const ContactManifold &inManifold, [[maybe_unused]] ContactSettings &ioSettings) { /* Do nothing */ }
 
    virtual void            OnContactRemoved([[maybe_unused]] const SubShapeIDPair &inSubShapePair) { /* Do nothing */ }
};
 
JPH_NAMESPACE_END