PlaneShape.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Collision/Shape/Shape.h>
#include <Jolt/Physics/Collision/Shape/SubShapeID.h>
#include <Jolt/Physics/Collision/PhysicsMaterial.h>
 
JPH_NAMESPACE_BEGIN
 
class CollideShapeSettings;
 
class JPH_EXPORT PlaneShapeSettings final : public ShapeSettings
{
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, PlaneShapeSettings)
 
public:
                                    PlaneShapeSettings() = default;
 
                                    PlaneShapeSettings(const Plane &inPlane, const PhysicsMaterial *inMaterial = nullptr, float inHalfExtent = cDefaultHalfExtent) : mPlane(inPlane), mMaterial(inMaterial), mHalfExtent(inHalfExtent) { }
 
    // See: ShapeSettings
    virtual ShapeResult             Create() const override;
 
    Plane                           mPlane;                                                     
 
    RefConst<PhysicsMaterial>       mMaterial;                                                  
 
    static constexpr float          cDefaultHalfExtent = 1000.0f;                               
 
    float                           mHalfExtent = cDefaultHalfExtent;                           
};
 
class JPH_EXPORT PlaneShape final : public Shape
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                    PlaneShape() : Shape(EShapeType::Plane, EShapeSubType::Plane) { }
                                    PlaneShape(const Plane &inPlane, const PhysicsMaterial *inMaterial = nullptr, float inHalfExtent = PlaneShapeSettings::cDefaultHalfExtent) : Shape(EShapeType::Plane, EShapeSubType::Plane), mPlane(inPlane), mMaterial(inMaterial), mHalfExtent(inHalfExtent) { CalculateLocalBounds(); }
                                    PlaneShape(const PlaneShapeSettings &inSettings, ShapeResult &outResult);
 
    const Plane &                   GetPlane() const                                            { return mPlane; }
 
    float                           GetHalfExtent() const                                       { return mHalfExtent; }
 
    // See Shape::MustBeStatic
    virtual bool                    MustBeStatic() const override                               { return true; }
 
    // See Shape::GetLocalBounds
    virtual AABox                   GetLocalBounds() const override                             { return mLocalBounds; }
 
    // See Shape::GetSubShapeIDBitsRecursive
    virtual uint                    GetSubShapeIDBitsRecursive() const override                 { return 0; }
 
    // See Shape::GetInnerRadius
    virtual float                   GetInnerRadius() const override                             { return 0.0f; }
 
    // See Shape::GetMassProperties
    virtual MassProperties          GetMassProperties() const override;
 
    // See Shape::GetMaterial
    virtual const PhysicsMaterial * GetMaterial(const SubShapeID &inSubShapeID) const override  { JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID"); return mMaterial != nullptr? mMaterial : PhysicsMaterial::sDefault; }
 
    // See Shape::GetSurfaceNormal
    virtual Vec3                    GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override { JPH_ASSERT(inSubShapeID.IsEmpty(), "Invalid subshape ID"); return mPlane.GetNormal(); }
 
    // See Shape::GetSupportingFace
    virtual void                    GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
 
#ifdef JPH_DEBUG_RENDERER
    // See Shape::Draw
    virtual void                    Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
#endif // JPH_DEBUG_RENDERER
 
    // See Shape::CastRay
    virtual bool                    CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
    virtual void                    CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
    // See: Shape::CollidePoint
    virtual void                    CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
    // See: Shape::CollideSoftBodyVertices
    virtual void                    CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override;
 
    // See Shape::GetTrianglesStart
    virtual void                    GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
 
    // See Shape::GetTrianglesNext
    virtual int                     GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
 
    // See Shape::GetSubmergedVolume
    virtual void                    GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override { JPH_ASSERT(false, "Not supported"); }
 
    // See Shape
    virtual void                    SaveBinaryState(StreamOut &inStream) const override;
    virtual void                    SaveMaterialState(PhysicsMaterialList &outMaterials) const override;
    virtual void                    RestoreMaterialState(const PhysicsMaterialRefC *inMaterials, uint inNumMaterials) override;
 
    // See Shape::GetStats
    virtual Stats                   GetStats() const override                                   { return Stats(sizeof(*this), 0); }
 
    // See Shape::GetVolume
    virtual float                   GetVolume() const override                                  { return 0; }
 
    // Register shape functions with the registry
    static void                     sRegister();
 
protected:
    // See: Shape::RestoreBinaryState
    virtual void                    RestoreBinaryState(StreamIn &inStream) override;
 
private:
    struct                          PSGetTrianglesContext;                                      
 
    // Get 4 vertices that form the plane
    void                            GetVertices(Vec3 *outVertices) const;
 
    // Cache the local bounds
    void                            CalculateLocalBounds();
 
    // Helper functions called by CollisionDispatch
    static void                     sCollideConvexVsPlane(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);
    static void                     sCastConvexVsPlane(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 
    Plane                           mPlane;
    RefConst<PhysicsMaterial>       mMaterial;
    float                           mHalfExtent;
    AABox                           mLocalBounds;
};
 
JPH_NAMESPACE_END