Jolt Physics
A multi core friendly Game Physics Engine
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CapsuleShape.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
8
10
13{
15
16
17 CapsuleShapeSettings() = default;
18
20 CapsuleShapeSettings(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { }
21
23 bool IsValid() const { return mRadius > 0.0f && mHalfHeightOfCylinder >= 0.0f; }
24
26 bool IsSphere() const { return mHalfHeightOfCylinder == 0.0f; }
27
28 // See: ShapeSettings
29 virtual ShapeResult Create() const override;
30
31 float mRadius = 0.0f;
32 float mHalfHeightOfCylinder = 0.0f;
33};
34
37{
38public:
40
43 CapsuleShape(const CapsuleShapeSettings &inSettings, ShapeResult &outResult);
44
46 CapsuleShape(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Capsule, inMaterial), mRadius(inRadius), mHalfHeightOfCylinder(inHalfHeightOfCylinder) { JPH_ASSERT(inHalfHeightOfCylinder > 0.0f); JPH_ASSERT(inRadius > 0.0f); }
47
49 float GetRadius() const { return mRadius; }
50
52 float GetHalfHeightOfCylinder() const { return mHalfHeightOfCylinder; }
53
54 // See Shape::GetLocalBounds
55 virtual AABox GetLocalBounds() const override;
56
57 // See Shape::GetWorldSpaceBounds
58 virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
60
61 // See Shape::GetInnerRadius
62 virtual float GetInnerRadius() const override { return mRadius; }
63
64 // See Shape::GetMassProperties
65 virtual MassProperties GetMassProperties() const override;
66
67 // See Shape::GetSurfaceNormal
68 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
69
70 // See Shape::GetSupportingFace
71 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
72
73 // See ConvexShape::GetSupportFunction
74 virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
75
76#ifdef JPH_DEBUG_RENDERER
77 // See Shape::Draw
78 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
79#endif // JPH_DEBUG_RENDERER
80
81 // See Shape::CastRay
83 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
84
85 // See: Shape::CollidePoint
86 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
87
88 // See: Shape::CollideSoftBodyVertices
89 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) const override;
90
91 // See Shape::TransformShape
92 virtual void TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
93
94 // See Shape::GetTrianglesStart
95 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
96
97 // See Shape::GetTrianglesNext
98 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
99
100 // See Shape
101 virtual void SaveBinaryState(StreamOut &inStream) const override;
102
103 // See Shape::GetStats
104 virtual Stats GetStats() const override { return Stats(sizeof(*this), 0); }
105
106 // See Shape::GetVolume
107 virtual float GetVolume() const override { return 4.0f / 3.0f * JPH_PI * Cubed(mRadius) + 2.0f * JPH_PI * mHalfHeightOfCylinder * Square(mRadius); }
108
109 // See Shape::IsValidScale
110 virtual bool IsValidScale(Vec3Arg inScale) const override;
111
112 // Register shape functions with the registry
113 static void sRegister();
114
115protected:
116 // See: Shape::RestoreBinaryState
117 virtual void RestoreBinaryState(StreamIn &inStream) override;
118
119private:
120 // Classes for GetSupportFunction
121 class CapsuleNoConvex;
122 class CapsuleWithConvex;
123
124 float mRadius = 0.0f;
125 float mHalfHeightOfCylinder = 0.0f;
126};
127
#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
constexpr T Cubed(T inV)
Returns .
Definition: Math.h:59
constexpr T Square(T inV)
Square a value.
Definition: Math.h:52
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition: Memory.h:29
#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
A capsule, implemented as a line segment with convex radius.
Definition: CapsuleShape.h:37
float GetHalfHeightOfCylinder() const
Get half of the height of the cylinder.
Definition: CapsuleShape.h:52
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition: CapsuleShape.h:104
float GetRadius() const
Radius of the cylinder.
Definition: CapsuleShape.h:49
CapsuleShape(float inHalfHeightOfCylinder, float inRadius, const PhysicsMaterial *inMaterial=nullptr)
Create a capsule centered around the origin with one sphere cap at (0, -inHalfHeightOfCylinder,...
Definition: CapsuleShape.h:46
JPH_OVERRIDE_NEW_DELETE CapsuleShape()
Constructor.
Definition: CapsuleShape.h:42
virtual float GetVolume() const override
Definition: CapsuleShape.h:107
virtual float GetInnerRadius() const override
Definition: CapsuleShape.h:62
Class that constructs a CapsuleShape.
Definition: CapsuleShape.h:13
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
virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override
Definition: ConvexShape.cpp:159
Class that constructs a ConvexShape (abstract)
Definition: ConvexShape.h:18
ConvexShapeSettings()=default
Constructor.
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
Filter class.
Definition: ShapeFilter.h:17
virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
Definition: Shape.h:214
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
Definition: RayCast.h:47
Class that holds information about the shape that can be used for logging / data collection purposes.
Definition: Shape.h:396