Jolt Physics
A multi core friendly Game Physics Engine
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BoxShape.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
9
11
14{
15public:
17
18
19 BoxShapeSettings() = default;
20
23 BoxShapeSettings(Vec3Arg inHalfExtent, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mHalfExtent(inHalfExtent), mConvexRadius(inConvexRadius) { }
24
25 // See: ShapeSettings
26 virtual ShapeResult Create() const override;
27
28 Vec3 mHalfExtent = Vec3::sZero();
29 float mConvexRadius = 0.0f;
30};
31
33class JPH_EXPORT BoxShape final : public ConvexShape
34{
35public:
37
40 BoxShape(const BoxShapeSettings &inSettings, ShapeResult &outResult);
41
44 BoxShape(Vec3Arg inHalfExtent, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Box, inMaterial), mHalfExtent(inHalfExtent), mConvexRadius(inConvexRadius) { JPH_ASSERT(inConvexRadius >= 0.0f); JPH_ASSERT(inHalfExtent.ReduceMin() >= inConvexRadius); }
45
47 Vec3 GetHalfExtent() const { return mHalfExtent; }
48
49 // See Shape::GetLocalBounds
50 virtual AABox GetLocalBounds() const override { return AABox(-mHalfExtent, mHalfExtent); }
51
52 // See Shape::GetInnerRadius
53 virtual float GetInnerRadius() const override { return mHalfExtent.ReduceMin(); }
54
55 // See Shape::GetMassProperties
56 virtual MassProperties GetMassProperties() const override;
57
58 // See Shape::GetSurfaceNormal
59 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
60
61 // See Shape::GetSupportingFace
62 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
63
64 // See ConvexShape::GetSupportFunction
65 virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
66
67#ifdef JPH_DEBUG_RENDERER
68 // See Shape::Draw
69 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
70#endif // JPH_DEBUG_RENDERER
71
72 // See Shape::CastRay
73 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
74 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
75
76 // See: Shape::CollidePoint
77 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
78
79 // See: Shape::CollideSoftBodyVertices
80 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) const override;
81
82 // See Shape::GetTrianglesStart
83 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
84
85 // See Shape::GetTrianglesNext
86 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
87
88 // See Shape
89 virtual void SaveBinaryState(StreamOut &inStream) const override;
90
91 // See Shape::GetStats
92 virtual Stats GetStats() const override { return Stats(sizeof(*this), 12); }
93
94 // See Shape::GetVolume
95 virtual float GetVolume() const override { return GetLocalBounds().GetVolume(); }
96
98 float GetConvexRadius() const { return mConvexRadius; }
99
100 // Register shape functions with the registry
101 static void sRegister();
102
103protected:
104 // See: Shape::RestoreBinaryState
105 virtual void RestoreBinaryState(StreamIn &inStream) override;
106
107private:
108 // Class for GetSupportFunction
109 class Box;
110
111 Vec3 mHalfExtent = Vec3::sZero();
112 float mConvexRadius = 0.0f;
113};
114
#define JPH_EXPORT
Definition: Core.h:227
unsigned int uint
Definition: Core.h:439
#define JPH_NAMESPACE_END
Definition: Core.h:367
#define JPH_NAMESPACE_BEGIN
Definition: Core.h:361
#define JPH_ASSERT(...)
Definition: IssueReporting.h:33
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition: Memory.h:29
constexpr float cDefaultConvexRadius
How much padding to add around objects.
Definition: PhysicsSettings.h:16
#define JPH_DECLARE_SERIALIZABLE_VIRTUAL(linkage, class_name)
Definition: SerializableObject.h:100
EShapeSubType
This enumerates all shape types, each shape can return its type through Shape::GetSubType.
Definition: Shape.h:74
Axis aligned box.
Definition: AABox.h:16
Definition: BoxShape.cpp:73
A box, centered around the origin.
Definition: BoxShape.h:34
virtual float GetVolume() const override
Definition: BoxShape.h:95
float GetConvexRadius() const
Get the convex radius of this box.
Definition: BoxShape.h:98
JPH_OVERRIDE_NEW_DELETE BoxShape()
Constructor.
Definition: BoxShape.h:39
Vec3 GetHalfExtent() const
Get half extent of box.
Definition: BoxShape.h:47
BoxShape(Vec3Arg inHalfExtent, float inConvexRadius=cDefaultConvexRadius, const PhysicsMaterial *inMaterial=nullptr)
Definition: BoxShape.h:44
virtual float GetInnerRadius() const override
Definition: BoxShape.h:53
virtual AABox GetLocalBounds() const override
Get local bounding box including convex radius, this box is centered around the center of mass rather...
Definition: BoxShape.h:50
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition: BoxShape.h:92
Class that constructs a BoxShape.
Definition: BoxShape.h:14
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
Base class for all convex shapes. Defines a virtual interface.
Definition: ConvexShape.h:36
Class that constructs a ConvexShape (abstract)
Definition: ConvexShape.h:18
Definition: DebugRenderer.h:47
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
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition: Mat44.h:13
Definition: PhysicsMaterial.h:23
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
Filter class.
Definition: ShapeFilter.h:17
virtual ShapeResult Create() const =0
Create a shape according to the settings specified by this object.
Definition: SoftBodyVertex.h:16
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: Vec3.h:16
JPH_INLINE float ReduceMin() const
Get the minimum of X, Y and Z.
Definition: Vec3.inl:798
static JPH_INLINE Vec3 sZero()
Vector with all zeros.
Definition: Vec3.inl:107
Definition: RayCast.h:47
Class that holds information about the shape that can be used for logging / data collection purposes.
Definition: Shape.h:396