A capsule with different top and bottom radii. More...

#include <TaperedCapsuleShape.h>

Inheritance diagram for TaperedCapsuleShape:

Classes
class	TaperedCapsule

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	TaperedCapsuleShape ()
	Constructor.

	TaperedCapsuleShape (const TaperedCapsuleShapeSettings &inSettings, ShapeResult &outResult)

float	GetTopRadius () const
	Get top radius of the tapered capsule.

float	GetBottomRadius () const
	Get bottom radius of the tapered capsule.

float	GetHalfHeight () const
	Get half height between the top and bottom sphere center.

virtual Vec3	GetCenterOfMass () const override
	All shapes are centered around their center of mass. This function returns the center of mass position that needs to be applied to transform the shape to where it was created.

virtual AABox	GetLocalBounds () const override
	Get local bounding box including convex radius, this box is centered around the center of mass rather than the world transform.

virtual AABox	GetWorldSpaceBounds (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override

virtual float	GetInnerRadius () const override

virtual MassProperties	GetMassProperties () const override
	Calculate the mass and inertia of this shape.

virtual Vec3	GetSurfaceNormal (const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override

virtual void	GetSupportingFace (const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override

virtual const Support *	GetSupportFunction (ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override

virtual void	CollideSoftBodyVertices (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, int inCollidingShapeIndex) const override

virtual void	Draw (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override
	Draw the shape at a particular location with a particular color (debugging purposes)

virtual void	SaveBinaryState (StreamOut &inStream) const override
	Saves the contents of the shape in binary form to inStream.

virtual Stats	GetStats () const override
	Get stats of this shape. Use for logging / data collection purposes only. Does not add values from child shapes, use GetStatsRecursive for this.

virtual float	GetVolume () const override

virtual bool	IsValidScale (Vec3Arg inScale) const override

virtual Vec3	MakeScaleValid (Vec3Arg inScale) const override

virtual AABox	GetWorldSpaceBounds (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const

AABox	GetWorldSpaceBounds (DMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
	Get world space bounds including convex radius.

Public Member Functions inherited from ConvexShape
JPH_OVERRIDE_NEW_DELETE	ConvexShape (EShapeSubType inSubType)
	Constructor.

	ConvexShape (EShapeSubType inSubType, const ConvexShapeSettings &inSettings, ShapeResult &outResult)

	ConvexShape (EShapeSubType inSubType, const PhysicsMaterial *inMaterial)

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 shape. Used mainly for checking that it is smaller or equal than SubShapeID::MaxBits.

virtual const PhysicsMaterial *	GetMaterial (const SubShapeID &inSubShapeID) const override
	Get the material assigned to a particular sub shape ID.

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

virtual void	CollidePoint (Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter={ }) const override

virtual void	GetTrianglesStart (GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override

virtual int	GetTrianglesNext (GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 outTriangleVertices, const PhysicsMaterial *outMaterials=nullptr) const override

virtual void	GetSubmergedVolume (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override

void	SetMaterial (const PhysicsMaterial *inMaterial)
	Material of the shape.

const PhysicsMaterial *	GetMaterial () const

void	SetDensity (float inDensity)
	Set density of the shape (kg / m^3)

float	GetDensity () const
	Get density of the shape (kg / m^3)

virtual void	DrawGetSupportFunction (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override
	Draw the results of the GetSupportFunction with the convex radius added back on to show any errors introduced by this process (only relevant for convex shapes)

virtual void	DrawGetSupportingFace (DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override
	Draw the results of the GetSupportingFace function to show any errors introduced by this process (only relevant for convex shapes)

virtual void	SaveMaterialState (PhysicsMaterialList &outMaterials) const override

virtual void	RestoreMaterialState (const PhysicsMaterialRefC *inMaterials, uint inNumMaterials) override
	Restore the material references after calling sRestoreFromBinaryState. Note that the exact same materials need to be provided in the same order as returned by SaveMaterialState.

Public Member Functions inherited from Shape
	Shape (EShapeType inType, EShapeSubType inSubType)
	Constructor.

	Shape (EShapeType inType, EShapeSubType inSubType, const ShapeSettings &inSettings, ShapeResult &outResult)

virtual	~Shape ()=default
	Destructor.

EShapeType	GetType () const
	Get type.

EShapeSubType	GetSubType () const

uint64	GetUserData () const
	User data (to be used freely by the application)

void	SetUserData (uint64 inUserData)

virtual bool	MustBeStatic () const
	Check if this shape can only be used to create a static body or if it can also be dynamic/kinematic.

AABox	GetWorldSpaceBounds (DMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
	Get world space bounds including convex radius.

virtual const Shape *	GetLeafShape (const SubShapeID &inSubShapeID, SubShapeID &outRemainder) const

virtual uint64	GetSubShapeUserData (const SubShapeID &inSubShapeID) const
	Get the user data of a particular sub shape ID. Corresponds with the value stored in Shape::GetUserData of the leaf shape pointed to by inSubShapeID.

virtual TransformedShape	GetSubShapeTransformedShape (const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const

virtual void	GetSubmergedVolume (Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy, RVec3Arg inBaseOffset) const =0

virtual void	CollectTransformedShapes (const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const

virtual void	TransformShape (Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const

ShapeResult	ScaleShape (Vec3Arg inScale) const

virtual Stats	GetStatsRecursive (VisitedShapes &ioVisitedShapes) const
	Volume of this shape (m^3). Note that for compound shapes the volume may be incorrect since child shapes can overlap which is not accounted for.

virtual void	SaveMaterialState (PhysicsMaterialList &outMaterials) const
	Outputs the material references that this shape has to outMaterials.

virtual void	SaveSubShapeState (ShapeList &outSubShapes) const
	Outputs the shape references that this shape has to outSubShapes.

virtual void	RestoreSubShapeState (const ShapeRefC *inSubShapes, uint inNumShapes)
	Restore the shape references after calling sRestoreFromBinaryState. Note that the exact same shapes need to be provided in the same order as returned by SaveSubShapeState.

void	SaveWithChildren (StreamOut &inStream, ShapeToIDMap &ioShapeMap, MaterialToIDMap &ioMaterialMap) const
	Save this shape, all its children and its materials. Pass in an empty map in ioShapeMap / ioMaterialMap or reuse the same map while saving multiple shapes to the same stream in order to avoid writing duplicates.

Public Member Functions inherited from RefTarget< Shape >
	RefTarget ()=default
	Constructor.

	RefTarget (const RefTarget &)

	~RefTarget ()
	assert no one is referencing us

void	SetEmbedded () const

RefTarget &	operator= (const RefTarget &)
	Assignment operator.

uint32	GetRefCount () const
	Get current refcount of this object.

void	AddRef () const
	Add or release a reference to this object.

void	Release () const

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Static Public Member Functions
static void	sRegister ()

Static Public Member Functions inherited from ConvexShape
static void	sRegister ()

Static Public Member Functions inherited from Shape
static ShapeResult	sRestoreFromBinaryState (StreamIn &inStream)
	Creates a Shape of the correct type and restores its contents from the binary stream inStream.

static ShapeResult	sRestoreWithChildren (StreamIn &inStream, IDToShapeMap &ioShapeMap, IDToMaterialMap &ioMaterialMap)
	Restore a shape, all its children and materials. Pass in an empty map in ioShapeMap / ioMaterialMap or reuse the same map while reading multiple shapes from the same stream in order to restore duplicates.

Static Public Member Functions inherited from RefTarget< Shape >
static int	sInternalGetRefCountOffset ()
	INTERNAL HELPER FUNCTION USED BY SERIALIZATION.

Protected Member Functions
virtual void	RestoreBinaryState (StreamIn &inStream) override
	This function should not be called directly, it is used by sRestoreFromBinaryState.

Additional Inherited Members
Public Types inherited from ConvexShape
enum class	ESupportMode { ExcludeConvexRadius , IncludeConvexRadius , Default }
	How the GetSupport function should behave. More...

Public Types inherited from Shape
using	ShapeResult = ShapeSettings::ShapeResult

using	SupportingFace = StaticArray< Vec3, 32 >
	Type definition for a supporting face.

using	VisitedShapes = UnorderedSet< const Shape * >

using	ShapeToIDMap = StreamUtils::ObjectToIDMap< Shape >

using	IDToShapeMap = StreamUtils::IDToObjectMap< Shape >

using	MaterialToIDMap = StreamUtils::ObjectToIDMap< PhysicsMaterial >

using	IDToMaterialMap = StreamUtils::IDToObjectMap< PhysicsMaterial >

Static Public Attributes inherited from Shape
static constexpr int	cGetTrianglesMinTrianglesRequested = 32
	This is the minimum amount of triangles that should be requested through GetTrianglesNext.

static bool	sDrawSubmergedVolumes = false
	Debug helper which draws the intersection between water and the shapes, the center of buoyancy and the submerged volume.

Static Protected Member Functions inherited from Shape
static void	sCollidePointUsingRayCast (const Shape &inShape, Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter)
	A fallback version of CollidePoint that uses a ray cast and counts the number of hits to determine if the point is inside the shape. Odd number of hits means inside, even number of hits means outside.

Protected Attributes inherited from RefTarget< Shape >
atomic< uint32 >	mRefCount
	Current reference count.

Static Protected Attributes inherited from ConvexShape
static const StaticArray< Vec3, 384 >	sUnitSphereTriangles
	Vertex list that forms a unit sphere.

Static Protected Attributes inherited from RefTarget< Shape >
static constexpr uint32	cEmbedded
	A large value that gets added to the refcount to mark the object as embedded.

Detailed Description

A capsule with different top and bottom radii.

Constructor & Destructor Documentation

◆ TaperedCapsuleShape() [1/2]

JPH_OVERRIDE_NEW_DELETE TaperedCapsuleShape::TaperedCapsuleShape ( )

inline

Constructor.

◆ TaperedCapsuleShape() [2/2]

TaperedCapsuleShape::TaperedCapsuleShape	(	const TaperedCapsuleShapeSettings &	inSettings,
		ShapeResult &	outResult
	)

Member Function Documentation

◆ CollideSoftBodyVertices()

void TaperedCapsuleShape::CollideSoftBodyVertices	(	Mat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale,
		const CollideSoftBodyVertexIterator &	inVertices,
		uint	inNumVertices,
		int	inCollidingShapeIndex
	)		const

overridevirtual

Collides all vertices of a soft body with this shape and updates SoftBodyVertex::mCollisionPlane, SoftBodyVertex::mCollidingShapeIndex and SoftBodyVertex::mLargestPenetration if a collision with more penetration was found.

Parameters

inCenterOfMassTransform	Center of mass transform for this shape relative to the vertices.
inScale	Scale in local space of the shape (scales relative to its center of mass)
inVertices	The vertices of the soft body
inNumVertices	The number of vertices in inVertices
inCollidingShapeIndex	Value to store in CollideSoftBodyVertexIterator::mCollidingShapeIndex when a collision was found

Implements Shape.

◆ Draw()

void TaperedCapsuleShape::Draw	(	DebugRenderer *	inRenderer,
		RMat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale,
		ColorArg	inColor,
		bool	inUseMaterialColors,
		bool	inDrawWireframe
	)		const

overridevirtual

Draw the shape at a particular location with a particular color (debugging purposes)

Implements Shape.

◆ GetBottomRadius()

float TaperedCapsuleShape::GetBottomRadius ( ) const

inline

Get bottom radius of the tapered capsule.

◆ GetCenterOfMass()

virtual Vec3 TaperedCapsuleShape::GetCenterOfMass ( ) const

inlineoverridevirtual

All shapes are centered around their center of mass. This function returns the center of mass position that needs to be applied to transform the shape to where it was created.

Reimplemented from Shape.

◆ GetHalfHeight()

float TaperedCapsuleShape::GetHalfHeight ( ) const

inline

Get half height between the top and bottom sphere center.

◆ GetInnerRadius()

virtual float TaperedCapsuleShape::GetInnerRadius ( ) const

inlineoverridevirtual

Returns the radius of the biggest sphere that fits entirely in the shape. In case this shape consists of multiple sub shapes, it returns the smallest sphere of the parts. This can be used as a measure of how far the shape can be moved without risking going through geometry.

Implements Shape.

◆ GetLocalBounds()

AABox TaperedCapsuleShape::GetLocalBounds ( ) const

overridevirtual

Get local bounding box including convex radius, this box is centered around the center of mass rather than the world transform.

Implements Shape.

◆ GetMassProperties()

MassProperties TaperedCapsuleShape::GetMassProperties ( ) const

overridevirtual

Calculate the mass and inertia of this shape.

Implements Shape.

◆ GetStats()

virtual Stats TaperedCapsuleShape::GetStats ( ) const

inlineoverridevirtual

Get stats of this shape. Use for logging / data collection purposes only. Does not add values from child shapes, use GetStatsRecursive for this.

Implements Shape.

◆ GetSupportFunction()

const ConvexShape::Support * TaperedCapsuleShape::GetSupportFunction	(	ESupportMode	inMode,
		SupportBuffer &	inBuffer,
		Vec3Arg	inScale
	)		const

overridevirtual

Returns an object that provides the GetSupport function for this shape. inMode determines if this support function includes or excludes the convex radius. of the values returned by the GetSupport function. This improves numerical accuracy of the results. inScale scales this shape in local space.

Implements ConvexShape.

◆ GetSupportingFace()

void TaperedCapsuleShape::GetSupportingFace	(	const SubShapeID &	inSubShapeID,
		Vec3Arg	inDirection,
		Vec3Arg	inScale,
		Mat44Arg	inCenterOfMassTransform,
		SupportingFace &	outVertices
	)		const

overridevirtual

Get the vertices of the face that faces inDirection the most (includes any convex radius). Note that this function can only return faces of convex shapes or triangles, which is why a sub shape ID to get to that leaf must be provided.

Parameters

inSubShapeID	Sub shape ID of target shape
inDirection	Direction that the face should be facing (in local space to this shape)
inCenterOfMassTransform	Transform to transform outVertices with
inScale	Scale in local space of the shape (scales relative to its center of mass)
outVertices	Resulting face. The returned face can be empty if the shape doesn't have polygons to return (e.g. because it's a sphere). The face will be returned in world space.

Reimplemented from Shape.

◆ GetSurfaceNormal()

Vec3 TaperedCapsuleShape::GetSurfaceNormal	(	const SubShapeID &	inSubShapeID,
		Vec3Arg	inLocalSurfacePosition
	)		const

overridevirtual

Get the surface normal of a particular sub shape ID and point on surface (all vectors are relative to center of mass for this shape). Note: When you have a CollideShapeResult or ShapeCastResult you should use -mPenetrationAxis.Normalized() as contact normal as GetSurfaceNormal will only return face normals (and not vertex or edge normals).

Implements Shape.

◆ GetTopRadius()

float TaperedCapsuleShape::GetTopRadius ( ) const

inline

Get top radius of the tapered capsule.

◆ GetVolume()

virtual float TaperedCapsuleShape::GetVolume ( ) const

inlineoverridevirtual

Implements Shape.

◆ GetWorldSpaceBounds() [1/3]

AABox Shape::GetWorldSpaceBounds	(	DMat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale
	)		const

inline

Get world space bounds including convex radius.

◆ GetWorldSpaceBounds() [2/3]

virtual AABox Shape::GetWorldSpaceBounds	(	Mat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale
	)		const

inlinevirtual

Get world space bounds including convex radius. This shape is scaled by inScale in local space first. This function can be overridden to return a closer fitting world space bounding box, by default it will just transform what GetLocalBounds() returns.

Reimplemented from Shape.

◆ GetWorldSpaceBounds() [3/3]

AABox TaperedCapsuleShape::GetWorldSpaceBounds	(	Mat44Arg	inCenterOfMassTransform,
		Vec3Arg	inScale
	)		const

overridevirtual

Get world space bounds including convex radius. This shape is scaled by inScale in local space first. This function can be overridden to return a closer fitting world space bounding box, by default it will just transform what GetLocalBounds() returns.

Reimplemented from Shape.

◆ IsValidScale()

bool TaperedCapsuleShape::IsValidScale ( Vec3Arg inScale ) const

overridevirtual

Test if inScale is a valid scale for this shape. Some shapes can only be scaled uniformly, compound shapes cannot handle shapes being rotated and scaled (this would cause shearing), scale can never be zero. When the scale is invalid, the function will return false.

Here's a list of supported scales:

SphereShape: Scale must be uniform (signs of scale are ignored).
BoxShape: Any scale supported (signs of scale are ignored).
TriangleShape: Any scale supported when convex radius is zero, otherwise only uniform scale supported.
CapsuleShape: Scale must be uniform (signs of scale are ignored).
TaperedCapsuleShape: Scale must be uniform (sign of Y scale can be used to flip the capsule).
CylinderShape: Scale must be uniform in XZ plane, Y can scale independently (signs of scale are ignored).
RotatedTranslatedShape: Scale must not cause shear in the child shape.
CompoundShape: Scale must not cause shear in any of the child shapes.

Reimplemented from Shape.

◆ MakeScaleValid()

Vec3 TaperedCapsuleShape::MakeScaleValid ( Vec3Arg inScale ) const

overridevirtual

This function will make sure that if you wrap this shape in a ScaledShape that the scale is valid. Note that this involves discarding components of the scale that are invalid, so the resulting scaled shape may be different than the requested scale. Compare the return value of this function with the scale you passed in to detect major inconsistencies and possibly warn the user.

Parameters

inScale Local space scale for this shape.

Returns: Scale that can be used to wrap this shape in a ScaledShape. IsValidScale will return true for this scale.

Reimplemented from Shape.

◆ RestoreBinaryState()

void TaperedCapsuleShape::RestoreBinaryState ( StreamIn & inStream )

overrideprotectedvirtual

This function should not be called directly, it is used by sRestoreFromBinaryState.

Reimplemented from ConvexShape.

◆ SaveBinaryState()

void TaperedCapsuleShape::SaveBinaryState ( StreamOut & inStream ) const

overridevirtual

Saves the contents of the shape in binary form to inStream.

Reimplemented from ConvexShape.

◆ sRegister()

void TaperedCapsuleShape::sRegister ( )

static

The documentation for this class was generated from the following files:

Jolt/Physics/Collision/Shape/TaperedCapsuleShape.h
Jolt/Physics/Collision/Shape/TaperedCapsuleShape.cpp

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TaperedCapsuleShape() [1/2]

◆ TaperedCapsuleShape() [2/2]

Member Function Documentation

◆ CollideSoftBodyVertices()

◆ Draw()

◆ GetBottomRadius()

◆ GetCenterOfMass()

◆ GetHalfHeight()

◆ GetInnerRadius()

◆ GetLocalBounds()

◆ GetMassProperties()

◆ GetStats()

◆ GetSupportFunction()

◆ GetSupportingFace()

◆ GetSurfaceNormal()

◆ GetTopRadius()

◆ GetVolume()

◆ GetWorldSpaceBounds() [1/3]

◆ GetWorldSpaceBounds() [2/3]

◆ GetWorldSpaceBounds() [3/3]

◆ IsValidScale()

◆ MakeScaleValid()

◆ RestoreBinaryState()

◆ SaveBinaryState()

◆ sRegister()