Jolt Physics
A multi core friendly Game Physics Engine
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ConvexHullShape.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
10#ifdef JPH_DEBUG_RENDERER
12#endif // JPH_DEBUG_RENDERER
13
15
18{
19public:
21
22
24
27 ConvexHullShapeSettings(const Vec3 *inPoints, int inNumPoints, float inMaxConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mPoints(inPoints, inPoints + inNumPoints), mMaxConvexRadius(inMaxConvexRadius) { }
28 ConvexHullShapeSettings(const Array<Vec3> &inPoints, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mPoints(inPoints), mMaxConvexRadius(inConvexRadius) { }
29
30 // See: ShapeSettings
31 virtual ShapeResult Create() const override;
32
34 float mMaxConvexRadius = 0.0f;
35 float mMaxErrorConvexRadius = 0.05f;
36 float mHullTolerance = 1.0e-3f;
37};
38
41{
42public:
44
47 static constexpr int cMaxPointsInHull = 256;
48
51 ConvexHullShape(const ConvexHullShapeSettings &inSettings, ShapeResult &outResult);
52
53 // See Shape::GetCenterOfMass
54 virtual Vec3 GetCenterOfMass() const override { return mCenterOfMass; }
55
56 // See Shape::GetLocalBounds
57 virtual AABox GetLocalBounds() const override { return mLocalBounds; }
58
59 // See Shape::GetInnerRadius
60 virtual float GetInnerRadius() const override { return mInnerRadius; }
61
62 // See Shape::GetMassProperties
63 virtual MassProperties GetMassProperties() const override;
64
65 // See Shape::GetSurfaceNormal
66 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
67
68 // See Shape::GetSupportingFace
69 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
70
71 // See ConvexShape::GetSupportFunction
72 virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
73
74 // See Shape::GetSubmergedVolume
75 virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
76
77#ifdef JPH_DEBUG_RENDERER
78 // See Shape::Draw
79 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
80
82 void DrawShrunkShape(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const;
83#endif // JPH_DEBUG_RENDERER
84
85 // See Shape::CastRay
86 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
87 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
88
89 // See: Shape::CollidePoint
90 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
91
92 // See: Shape::CollideSoftBodyVertices
93 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) const override;
94
95 // See Shape::GetTrianglesStart
96 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
97
98 // See Shape::GetTrianglesNext
99 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
100
101 // See Shape
102 virtual void SaveBinaryState(StreamOut &inStream) const override;
103
104 // See Shape::GetStats
105 virtual Stats GetStats() const override;
106
107 // See Shape::GetVolume
108 virtual float GetVolume() const override { return mVolume; }
109
111 float GetConvexRadius() const { return mConvexRadius; }
112
114 const Array<Plane> & GetPlanes() const { return mPlanes; }
115
117 inline uint GetNumPoints() const { return uint(mPoints.size()); }
118
120 inline Vec3 GetPoint(uint inIndex) const { return mPoints[inIndex].mPosition; }
121
123 inline uint GetNumFaces() const { return uint(mFaces.size()); }
124
126 inline uint GetNumVerticesInFace(uint inFaceIndex) const { return mFaces[inFaceIndex].mNumVertices; }
127
133 inline uint GetFaceVertices(uint inFaceIndex, uint inMaxVertices, uint *outVertices) const
134 {
135 const Face &face = mFaces[inFaceIndex];
136 const uint8 *first_vertex = mVertexIdx.data() + face.mFirstVertex;
137 uint num_vertices = min<uint>(face.mNumVertices, inMaxVertices);
138 for (uint i = 0; i < num_vertices; ++i)
139 outVertices[i] = first_vertex[i];
140 return face.mNumVertices;
141 }
142
143 // Register shape functions with the registry
144 static void sRegister();
145
146#ifdef JPH_DEBUG_RENDERER
148 inline static bool sDrawFaceOutlines = false;
149#endif // JPH_DEBUG_RENDERER
150
151protected:
152 // See: Shape::RestoreBinaryState
153 virtual void RestoreBinaryState(StreamIn &inStream) override;
154
155private:
157 bool CastRayHelper(const RayCast &inRay, float &outMinFraction, float &outMaxFraction) const;
158
161
163 class HullNoConvex;
164 class HullWithConvex;
166
167 struct Face
168 {
169 uint16 mFirstVertex;
170 uint16 mNumVertices = 0;
171 };
172
173 static_assert(sizeof(Face) == 4, "Unexpected size");
174 static_assert(alignof(Face) == 2, "Unexpected alignment");
175
176 struct Point
177 {
178 Vec3 mPosition;
179 int mNumFaces = 0;
180 int mFaces[3] = { -1, -1, -1 };
181 };
182
183 static_assert(sizeof(Point) == 32, "Unexpected size");
184 static_assert(alignof(Point) == JPH_VECTOR_ALIGNMENT, "Unexpected alignment");
185
186 Vec3 mCenterOfMass;
187 Mat44 mInertia;
188 AABox mLocalBounds;
189 Array<Point> mPoints;
190 Array<Face> mFaces;
191 Array<Plane> mPlanes;
192 Array<uint8> mVertexIdx;
193 float mConvexRadius = 0.0f;
194 float mVolume;
195 float mInnerRadius = FLT_MAX;
196
197#ifdef JPH_DEBUG_RENDERER
198 mutable DebugRenderer::GeometryRef mGeometry;
199#endif // JPH_DEBUG_RENDERER
200};
201
std::uint8_t uint8
Definition: Core.h:440
#define JPH_EXPORT
Definition: Core.h:227
unsigned int uint
Definition: Core.h:439
#define JPH_NAMESPACE_END
Definition: Core.h:367
#define JPH_IF_DEBUG_RENDERER(...)
Definition: Core.h:510
#define JPH_NAMESPACE_BEGIN
Definition: Core.h:361
std::uint16_t uint16
Definition: Core.h:441
#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
std::vector< T, STLAllocator< T > > Array
Definition: STLAllocator.h:81
#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
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
Definition: ConvexHullShape.cpp:1169
Definition: ConvexHullShape.cpp:397
Definition: ConvexHullShape.cpp:449
Definition: ConvexHullShape.cpp:488
A convex hull.
Definition: ConvexHullShape.h:41
virtual Vec3 GetCenterOfMass() const override
All shapes are centered around their center of mass. This function returns the center of mass positio...
Definition: ConvexHullShape.h:54
virtual float GetVolume() const override
Definition: ConvexHullShape.h:108
uint GetFaceVertices(uint inFaceIndex, uint inMaxVertices, uint *outVertices) const
Definition: ConvexHullShape.h:133
virtual float GetInnerRadius() const override
Definition: ConvexHullShape.h:60
virtual AABox GetLocalBounds() const override
Get local bounding box including convex radius, this box is centered around the center of mass rather...
Definition: ConvexHullShape.h:57
uint GetNumVerticesInFace(uint inFaceIndex) const
Get the number of vertices in a face.
Definition: ConvexHullShape.h:126
Vec3 GetPoint(uint inIndex) const
Get a vertex of this convex hull relative to the center of mass.
Definition: ConvexHullShape.h:120
const Array< Plane > & GetPlanes() const
Get the planes of this convex hull.
Definition: ConvexHullShape.h:114
uint GetNumFaces() const
Get the number of faces in this convex hull.
Definition: ConvexHullShape.h:123
ConvexHullShape()
Constructor.
Definition: ConvexHullShape.h:50
uint GetNumPoints() const
Get the number of vertices in this convex hull.
Definition: ConvexHullShape.h:117
float GetConvexRadius() const
Get the convex radius of this convex hull.
Definition: ConvexHullShape.h:111
Class that constructs a ConvexHullShape.
Definition: ConvexHullShape.h:18
ConvexHullShapeSettings(const Array< Vec3 > &inPoints, float inConvexRadius=cDefaultConvexRadius, const PhysicsMaterial *inMaterial=nullptr)
Definition: ConvexHullShape.h:28
Array< Vec3 > mPoints
Points to create the hull from.
Definition: ConvexHullShape.h:33
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
An infinite plane described by the formula X . Normal + Constant = 0.
Definition: Plane.h:11
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
Definition: RayCast.h:47