Jolt Physics
A multi core friendly Game Physics Engine
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OffsetCenterOfMassShape.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
12
15{
17
18public:
21
23 OffsetCenterOfMassShapeSettings(Vec3Arg inOffset, const ShapeSettings *inShape) : DecoratedShapeSettings(inShape), mOffset(inOffset) { }
24
26 OffsetCenterOfMassShapeSettings(Vec3Arg inOffset, const Shape *inShape): DecoratedShapeSettings(inShape), mOffset(inOffset) { }
27
28 // See: ShapeSettings
29 virtual ShapeResult Create() const override;
30
32};
33
36{
37public:
39
42 OffsetCenterOfMassShape(const OffsetCenterOfMassShapeSettings &inSettings, ShapeResult &outResult);
43 OffsetCenterOfMassShape(const Shape *inShape, Vec3Arg inOffset) : DecoratedShape(EShapeSubType::OffsetCenterOfMass, inShape), mOffset(inOffset) { }
44
46 Vec3 GetOffset() const { return mOffset; }
47
48 // See Shape::GetCenterOfMass
49 virtual Vec3 GetCenterOfMass() const override { return mInnerShape->GetCenterOfMass() + mOffset; }
50
51 // See Shape::GetLocalBounds
52 virtual AABox GetLocalBounds() const override;
53
54 // See Shape::GetWorldSpaceBounds
55 virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
57
58 // See Shape::GetInnerRadius
59 virtual float GetInnerRadius() const override { return mInnerShape->GetInnerRadius(); }
60
61 // See Shape::GetMassProperties
62 virtual MassProperties GetMassProperties() const override
63 {
64 MassProperties mp = mInnerShape->GetMassProperties();
65 mp.Translate(mOffset);
66 return mp;
67 }
68
69 // See Shape::GetSubShapeTransformedShape
70 virtual TransformedShape GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const override;
71
72 // See Shape::GetSurfaceNormal
73 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
74
75 // See Shape::GetSupportingFace
76 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
77
78 // See Shape::GetSubmergedVolume
79 virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
80
81#ifdef JPH_DEBUG_RENDERER
82 // See Shape::Draw
83 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
84
85 // See Shape::DrawGetSupportFunction
86 virtual void DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
87
88 // See Shape::DrawGetSupportingFace
89 virtual void DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
90#endif // JPH_DEBUG_RENDERER
91
92 // See Shape::CastRay
93 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
94 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
95
96 // See: Shape::CollidePoint
97 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
98
99 // See: Shape::CollideSoftBodyVertices
100 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
101
102 // See Shape::CollectTransformedShapes
103 virtual void CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
104
105 // See Shape::TransformShape
106 virtual void TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
107
108 // See Shape::GetTrianglesStart
109 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); }
110
111 // See Shape::GetTrianglesNext
112 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); return 0; }
113
114 // See Shape
115 virtual void SaveBinaryState(StreamOut &inStream) const override;
116
117 // See Shape::GetStats
118 virtual Stats GetStats() const override { return Stats(sizeof(*this), 0); }
119
120 // See Shape::GetVolume
121 virtual float GetVolume() const override { return mInnerShape->GetVolume(); }
122
123 // Register shape functions with the registry
124 static void sRegister();
125
126protected:
127 // See: Shape::RestoreBinaryState
128 virtual void RestoreBinaryState(StreamIn &inStream) override;
129
130private:
131 // Helper functions called by CollisionDispatch
132 static void sCollideOffsetCenterOfMassVsShape(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);
133 static void sCollideShapeVsOffsetCenterOfMass(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);
134 static void sCastOffsetCenterOfMassVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
135 static void sCastShapeVsOffsetCenterOfMass(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
136
137 Vec3 mOffset;
138};
139
#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_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
Settings to be passed with a collision query.
Definition CollideShape.h:94
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
Definition DebugRenderer.h:47
Base class for shapes that decorate another shape with extra functionality (e.g. scale,...
Definition DecoratedShape.h:30
Class that constructs a DecoratedShape.
Definition DecoratedShape.h:13
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
void Translate(Vec3Arg inTranslation)
Translate the inertia by a vector inTranslation.
Definition MassProperties.cpp:162
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition Mat44.h:13
This shape will shift the center of mass of a child shape, it can e.g. be used to lower the center of...
Definition OffsetCenterOfMassShape.h:36
virtual float GetInnerRadius() const override
Definition OffsetCenterOfMassShape.h:59
Vec3 GetOffset() const
Access the offset that is applied to the center of mass.
Definition OffsetCenterOfMassShape.h:46
JPH_OVERRIDE_NEW_DELETE OffsetCenterOfMassShape()
Constructor.
Definition OffsetCenterOfMassShape.h:41
virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials=nullptr) const override
Definition OffsetCenterOfMassShape.h:112
OffsetCenterOfMassShape(const Shape *inShape, Vec3Arg inOffset)
Definition OffsetCenterOfMassShape.h:43
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition OffsetCenterOfMassShape.h:118
virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override
Definition OffsetCenterOfMassShape.h:109
virtual float GetVolume() const override
Definition OffsetCenterOfMassShape.h:121
virtual Vec3 GetCenterOfMass() const override
All shapes are centered around their center of mass. This function returns the center of mass positio...
Definition OffsetCenterOfMassShape.h:49
virtual MassProperties GetMassProperties() const override
Calculate the mass and inertia of this shape.
Definition OffsetCenterOfMassShape.h:62
Class that constructs an OffsetCenterOfMassShape.
Definition OffsetCenterOfMassShape.h:15
OffsetCenterOfMassShapeSettings(Vec3Arg inOffset, const ShapeSettings *inShape)
Construct with shape settings, can be serialized.
Definition OffsetCenterOfMassShape.h:23
OffsetCenterOfMassShapeSettings()=default
Constructor.
Vec3 mOffset
Offset to be applied to the center of mass of the child shape.
Definition OffsetCenterOfMassShape.h:31
OffsetCenterOfMassShapeSettings(Vec3Arg inOffset, const Shape *inShape)
Variant that uses a concrete shape, which means this object cannot be serialized.
Definition OffsetCenterOfMassShape.h:26
Definition PhysicsMaterial.h:23
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
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
virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
Definition Shape.h:222
Definition Shape.h:147
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 TransformedShape.h:26
Definition Vec3.h:17
Definition RayCast.h:47
An opaque buffer that holds shape specific information during GetTrianglesStart/Next.
Definition Shape.h:348
Class that holds information about the shape that can be used for logging / data collection purposes.
Definition Shape.h:408
Definition ShapeCast.h:69