Jolt Physics
A multi core friendly Game Physics Engine
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ConvexShape.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
11
13
15
18{
20
21public:
24 explicit ConvexShapeSettings(const PhysicsMaterial *inMaterial) : mMaterial(inMaterial) { }
25
27 void SetDensity(float inDensity) { mDensity = inDensity; }
28
29 // Properties
31 float mDensity = 1000.0f;
32};
33
37public:
39
41 explicit ConvexShape(EShapeSubType inSubType) : Shape(EShapeType::Convex, inSubType) { }
42 ConvexShape(EShapeSubType inSubType, const ConvexShapeSettings &inSettings, ShapeResult &outResult) : Shape(EShapeType::Convex, inSubType, inSettings, outResult), mMaterial(inSettings.mMaterial), mDensity(inSettings.mDensity) { }
43 ConvexShape(EShapeSubType inSubType, const PhysicsMaterial *inMaterial) : Shape(EShapeType::Convex, inSubType), mMaterial(inMaterial) { }
44
45 // See Shape::GetSubShapeIDBitsRecursive
46 virtual uint GetSubShapeIDBitsRecursive() const override { return 0; } // Convex shapes don't have sub shapes
47
48 // See Shape::GetMaterial
49 virtual const PhysicsMaterial * GetMaterial([[maybe_unused]] const SubShapeID &inSubShapeID) const override { JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID"); return GetMaterial(); }
50
51 // See Shape::CastRay
52 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
53 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
54
55 // See: Shape::CollidePoint
56 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
57
58 // See Shape::GetTrianglesStart
59 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
60
61 // See Shape::GetTrianglesNext
62 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
63
64 // See Shape::GetSubmergedVolume
65 virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
66
68 class Support
69 {
70 public:
72 virtual ~Support() = default;
73
76 virtual Vec3 GetSupport(Vec3Arg inDirection) const = 0;
77
80 virtual float GetConvexRadius() const = 0;
81 };
82
84 class alignas(16) SupportBuffer
85 {
86 public:
87 uint8 mData[4160];
88 };
89
91 enum class ESupportMode
92 {
93 ExcludeConvexRadius,
94 IncludeConvexRadius,
95 Default,
96 };
97
102 virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const = 0;
103
105 void SetMaterial(const PhysicsMaterial *inMaterial) { mMaterial = inMaterial; }
106 const PhysicsMaterial * GetMaterial() const { return mMaterial != nullptr? mMaterial : PhysicsMaterial::sDefault; }
107
109 void SetDensity(float inDensity) { mDensity = inDensity; }
110
112 float GetDensity() const { return mDensity; }
113
114#ifdef JPH_DEBUG_RENDERER
115 // See Shape::DrawGetSupportFunction
116 virtual void DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
117
118 // See Shape::DrawGetSupportingFace
119 virtual void DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
120#endif // JPH_DEBUG_RENDERER
121
122 // See Shape
123 virtual void SaveBinaryState(StreamOut &inStream) const override;
124 virtual void SaveMaterialState(PhysicsMaterialList &outMaterials) const override;
125 virtual void RestoreMaterialState(const PhysicsMaterialRefC *inMaterials, uint inNumMaterials) override;
126
127 // Register shape functions with the registry
128 static void sRegister();
129
130protected:
131 // See: Shape::RestoreBinaryState
132 virtual void RestoreBinaryState(StreamIn &inStream) override;
133
135 static const StaticArray<Vec3, 384> sUnitSphereTriangles;
136
137private:
138 // Class for GetTrianglesStart/Next
139 class CSGetTrianglesContext;
140
141 // Helper functions called by CollisionDispatch
142 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);
143 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);
144
145 // Properties
146 RefConst<PhysicsMaterial> mMaterial;
147 float mDensity = 1000.0f;
148};
149
std::uint8_t uint8
Definition Core.h:482
#define JPH_EXPORT
Definition Core.h:271
unsigned int uint
Definition Core.h:481
#define JPH_NAMESPACE_END
Definition Core.h:414
#define JPH_IF_DEBUG_RENDERER(...)
Definition Core.h:565
#define JPH_NAMESPACE_BEGIN
Definition Core.h:408
#define JPH_ASSERT(...)
Definition IssueReporting.h:33
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition Memory.h:31
#define JPH_DECLARE_SERIALIZABLE_ABSTRACT(linkage, class_name)
Definition SerializableObject.h:120
EShapeSubType
This enumerates all shape types, each shape can return its type through Shape::GetSubType.
Definition Shape.h:77
EShapeType
Shapes are categorized in groups, each shape can return which group it belongs to through its Shape::...
Definition Shape.h:57
@ Convex
Used by ConvexShape, all shapes that use the generic convex vs convex collision detection system (box...
Axis aligned box.
Definition AABox.h:16
Settings to be passed with a collision query.
Definition CollideShape.h:94
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
Buffer to hold a Support object, used to avoid dynamic memory allocations.
Definition ConvexShape.h:85
Function that provides an interface for GJK.
Definition ConvexShape.h:69
virtual ~Support()=default
Warning: Virtual destructor will not be called on this object!
virtual Vec3 GetSupport(Vec3Arg inDirection) const =0
virtual float GetConvexRadius() const =0
Base class for all convex shapes. Defines a virtual interface.
Definition ConvexShape.h:36
void SetDensity(float inDensity)
Set density of the shape (kg / m^3)
Definition ConvexShape.h:109
ConvexShape(EShapeSubType inSubType, const ConvexShapeSettings &inSettings, ShapeResult &outResult)
Definition ConvexShape.h:42
float GetDensity() const
Get density of the shape (kg / m^3)
Definition ConvexShape.h:112
void SetMaterial(const PhysicsMaterial *inMaterial)
Material of the shape.
Definition ConvexShape.h:105
ESupportMode
How the GetSupport function should behave.
Definition ConvexShape.h:92
JPH_OVERRIDE_NEW_DELETE ConvexShape(EShapeSubType inSubType)
Constructor.
Definition ConvexShape.h:41
virtual const PhysicsMaterial * GetMaterial(const SubShapeID &inSubShapeID) const override
Get the material assigned to a particular sub shape ID.
Definition ConvexShape.h:49
const PhysicsMaterial * GetMaterial() const
Definition ConvexShape.h:106
ConvexShape(EShapeSubType inSubType, const PhysicsMaterial *inMaterial)
Definition ConvexShape.h:43
virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const =0
virtual uint GetSubShapeIDBitsRecursive() const override
Get the max number of sub shape ID bits that are needed to be able to address any leaf shape in this ...
Definition ConvexShape.h:46
Class that constructs a ConvexShape (abstract)
Definition ConvexShape.h:18
RefConst< PhysicsMaterial > mMaterial
Material assigned to this shape.
Definition ConvexShape.h:30
void SetDensity(float inDensity)
Set the density of the object in kg / m^3.
Definition ConvexShape.h:27
ConvexShapeSettings(const PhysicsMaterial *inMaterial)
Definition ConvexShape.h:24
ConvexShapeSettings()=default
Constructor.
Definition DebugRenderer.h:47
Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.
Definition Float3.h:13
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
static RefConst< PhysicsMaterial > sDefault
Default material that is used when a shape has no materials defined.
Definition PhysicsMaterial.h:31
An infinite plane described by the formula X . Normal + Constant = 0.
Definition Plane.h:11
Definition Quat.h:33
Specialization of cast result against a shape.
Definition CastResult.h:30
Settings to be passed with a ray cast.
Definition RayCast.h:70
Definition Reference.h:163
Settings to be passed with a shape cast.
Definition ShapeCast.h:92
Filter class.
Definition ShapeFilter.h:17
Base class for all shapes (collision volume of a body). Defines a virtual interface for collision det...
Definition Shape.h:186
Definition Shape.h:147
Simple variable length array backed by a fixed size buffer.
Definition StaticArray.h:14
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
Definition ShapeCast.h:69