RotatedTranslatedShape.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Collision/Shape/DecoratedShape.h>
#include <Jolt/Physics/Collision/Shape/ScaleHelpers.h>
 
JPH_NAMESPACE_BEGIN
 
class CollideShapeSettings;
 
class RotatedTranslatedShapeSettings final : public DecoratedShapeSettings
{
public:
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(RotatedTranslatedShapeSettings)
 
    
                                    RotatedTranslatedShapeSettings() = default;
 
                                    RotatedTranslatedShapeSettings(Vec3Arg inPosition, QuatArg inRotation, const ShapeSettings *inShape) : DecoratedShapeSettings(inShape), mPosition(inPosition), mRotation(inRotation) { }
 
                                    RotatedTranslatedShapeSettings(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape): DecoratedShapeSettings(inShape), mPosition(inPosition), mRotation(inRotation) { }
 
    // See: ShapeSettings
    virtual ShapeResult             Create() const override;
 
    Vec3                            mPosition;                                              
    Quat                            mRotation;                                              
};
 
class RotatedTranslatedShape final : public DecoratedShape
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                    RotatedTranslatedShape() : DecoratedShape(EShapeSubType::RotatedTranslated) { }
                                    RotatedTranslatedShape(const RotatedTranslatedShapeSettings &inSettings, ShapeResult &outResult);
                                    RotatedTranslatedShape(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape);
 
    Quat                            GetRotation() const                                     { return mRotation; }
 
    Vec3                            GetPosition() const                                     { return mCenterOfMass - mRotation.InverseRotate(mInnerShape->GetCenterOfMass()); }
 
    // See Shape::GetCenterOfMass
    virtual Vec3                    GetCenterOfMass() const override                        { return mCenterOfMass; }
 
    // See Shape::GetLocalBounds
    virtual AABox                   GetLocalBounds() const override;
        
    // See Shape::GetWorldSpaceBounds
    virtual AABox                   GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
    using Shape::GetWorldSpaceBounds;
 
    // See Shape::GetInnerRadius
    virtual float                   GetInnerRadius() const override                         { return mInnerShape->GetInnerRadius(); }
 
    // See Shape::GetMassProperties
    virtual MassProperties          GetMassProperties() const override;
 
    // See Shape::GetSubShapeTransformedShape
    virtual TransformedShape        GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) 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 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;
 
#ifdef JPH_DEBUG_RENDERER
    // See Shape::Draw
    virtual void                    Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
 
    // See Shape::DrawGetSupportFunction
    virtual void                    DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
 
    // See Shape::DrawGetSupportingFace
    virtual void                    DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) 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::CollectTransformedShapes
    virtual void                    CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
 
    // See Shape::TransformShape
    virtual void                    TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
 
    // See Shape::GetTrianglesStart
    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!"); }
 
    // See Shape::GetTrianglesNext
    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; }
 
    // 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                              { return mInnerShape->GetVolume(); }
 
    // See Shape::IsValidScale
    virtual bool                    IsValidScale(Vec3Arg inScale) const override;
 
    // Register shape functions with the registry
    static void                     sRegister();
 
protected:
    // See: Shape::RestoreBinaryState
    virtual void                    RestoreBinaryState(StreamIn &inStream) override;
 
private:
    // Helper functions called by CollisionDispatch
    static void                     sCollideRotatedTranslatedVsShape(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                     sCollideShapeVsRotatedTranslated(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                     sCastRotatedTranslatedVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
    static void                     sCastShapeVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 
    inline Vec3                     TransformScale(Vec3Arg inScale) const
    {
        // We don't need to transform uniform scale or if the rotation is identity
        if (mIsRotationIdentity || ScaleHelpers::IsUniformScale(inScale))
            return inScale;
 
        return ScaleHelpers::RotateScale(mRotation, inScale);
    }
        
    bool                            mIsRotationIdentity;                                    
    Vec3                            mCenterOfMass;                                          
    Quat                            mRotation;                                              
};
 
JPH_NAMESPACE_END