TaperedCylinderShape.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/ConvexShape.h>
#include <Jolt/Physics/PhysicsSettings.h>
 
JPH_NAMESPACE_BEGIN
 
class JPH_EXPORT TaperedCylinderShapeSettings final : public ConvexShapeSettings
{
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TaperedCylinderShapeSettings)
 
public:
                            TaperedCylinderShapeSettings() = default;
 
                            TaperedCylinderShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr);
 
    virtual ShapeResult     Create() const override;
 
    float                   mHalfHeight = 0.0f;
    float                   mTopRadius = 0.0f;
    float                   mBottomRadius = 0.0f;
    float                   mConvexRadius = 0.0f;
};
 
class JPH_EXPORT TaperedCylinderShape final : public ConvexShape
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                            TaperedCylinderShape() : ConvexShape(EShapeSubType::TaperedCylinder) { }
                            TaperedCylinderShape(const TaperedCylinderShapeSettings &inSettings, ShapeResult &outResult);
 
    inline float            GetTopRadius() const                                                    { return mTopRadius; }
 
    inline float            GetBottomRadius() const                                                 { return mBottomRadius; }
 
    inline float            GetConvexRadius() const                                                 { return mConvexRadius; }
 
    inline float            GetHalfHeight() const                                                   { return 0.5f * (mTop - mBottom); }
 
    // See Shape::GetCenterOfMass
    virtual Vec3            GetCenterOfMass() const override                                        { return Vec3(0, -0.5f * (mTop + mBottom), 0); }
 
    // See Shape::GetLocalBounds
    virtual AABox           GetLocalBounds() const override;
 
    // See Shape::GetInnerRadius
    virtual float           GetInnerRadius() const override                                         { return min(mTopRadius, mBottomRadius); }
 
    // See Shape::GetMassProperties
    virtual MassProperties  GetMassProperties() const override;
 
    // See Shape::GetSurfaceNormal
    virtual Vec3            GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
 
    // See Shape::GetSupportingFace
    virtual void            GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
 
    // See ConvexShape::GetSupportFunction
    virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) 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;
 
#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
    virtual void            SaveBinaryState(StreamOut &inStream) const override;
 
    // See Shape::GetStats
    virtual Stats           GetStats() const override                                               { return Stats(sizeof(*this), 0); }
 
    // See Shape::GetVolume
    virtual float           GetVolume() const override;
 
    // See Shape::IsValidScale
    virtual bool            IsValidScale(Vec3Arg inScale) const override;
 
    // See Shape::MakeScaleValid
    virtual Vec3            MakeScaleValid(Vec3Arg inScale) const override;
 
    // Register shape functions with the registry
    static void             sRegister();
 
protected:
    // See: Shape::RestoreBinaryState
    virtual void            RestoreBinaryState(StreamIn &inStream) override;
 
private:
    // Class for GetSupportFunction
    class                   TaperedCylinder;
 
    // Class for GetTrianglesTart
    class                   TCSGetTrianglesContext;
 
    // Scale the cylinder
    JPH_INLINE void         GetScaled(Vec3Arg inScale, float &outTop, float &outBottom, float &outTopRadius, float &outBottomRadius, float &outConvexRadius) const;
 
    float                   mTop = 0.0f;
    float                   mBottom = 0.0f;
    float                   mTopRadius = 0.0f;
    float                   mBottomRadius = 0.0f;
    float                   mConvexRadius = 0.0f;
};
 
JPH_NAMESPACE_END