CollideShape.h

Go to the documentation of this file.

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Core/StaticArray.h>
#include <Jolt/Physics/Collision/BackFaceMode.h>
#include <Jolt/Physics/Collision/ActiveEdgeMode.h>
#include <Jolt/Physics/Collision/CollectFacesMode.h>
#include <Jolt/Physics/Collision/Shape/SubShapeID.h>
#include <Jolt/Physics/Body/BodyID.h>
#include <Jolt/Physics/PhysicsSettings.h>
 
JPH_NAMESPACE_BEGIN
 
class CollideShapeResult
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                CollideShapeResult() = default;
 
                                CollideShapeResult(Vec3Arg inContactPointOn1, Vec3Arg inContactPointOn2, Vec3Arg inPenetrationAxis, float inPenetrationDepth, const SubShapeID &inSubShapeID1, const SubShapeID &inSubShapeID2, const BodyID &inBodyID2) :
        mContactPointOn1(inContactPointOn1),
        mContactPointOn2(inContactPointOn2),
        mPenetrationAxis(inPenetrationAxis),
        mPenetrationDepth(inPenetrationDepth),
        mSubShapeID1(inSubShapeID1),
        mSubShapeID2(inSubShapeID2),
        mBodyID2(inBodyID2)
    {
    }
 
    inline float                GetEarlyOutFraction() const { return -mPenetrationDepth; }
 
    inline CollideShapeResult   Reversed() const
    {
        CollideShapeResult result;
        result.mContactPointOn2 = mContactPointOn1;
        result.mContactPointOn1 = mContactPointOn2;
        result.mPenetrationAxis = -mPenetrationAxis;
        result.mPenetrationDepth = mPenetrationDepth;
        result.mSubShapeID2 = mSubShapeID1;
        result.mSubShapeID1 = mSubShapeID2;
        result.mBodyID2 = mBodyID2;
        result.mShape2Face = mShape1Face;
        result.mShape1Face = mShape2Face;
        return result;
    }
 
    using Face = StaticArray<Vec3, 32>;
 
    Vec3                        mContactPointOn1;           
    Vec3                        mContactPointOn2;           
    Vec3                        mPenetrationAxis;           
    float                       mPenetrationDepth;          
    SubShapeID                  mSubShapeID1;               
    SubShapeID                  mSubShapeID2;               
    BodyID                      mBodyID2;                   
    Face                        mShape1Face;                
    Face                        mShape2Face;                
};
 
class CollideSettingsBase
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
    EActiveEdgeMode             mActiveEdgeMode             = EActiveEdgeMode::CollideOnlyWithActive;
 
    ECollectFacesMode           mCollectFacesMode           = ECollectFacesMode::NoFaces;
 
    float                       mCollisionTolerance         = cDefaultCollisionTolerance;
 
    float                       mPenetrationTolerance       = cDefaultPenetrationTolerance;
 
    Vec3                        mActiveEdgeMovementDirection = Vec3::sZero();
};
 
class CollideShapeSettings : public CollideSettingsBase
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
    float                       mMaxSeparationDistance      = 0.0f;
 
    EBackFaceMode               mBackFaceMode               = EBackFaceMode::IgnoreBackFaces;
};
 
JPH_NAMESPACE_END