Jolt Physics
A multi core friendly Game Physics Engine
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CylinderShape.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
20
23 CylinderShapeSettings(float inHalfHeight, float inRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mHalfHeight(inHalfHeight), mRadius(inRadius), mConvexRadius(inConvexRadius) { }
24
25 // See: ShapeSettings
26 virtual ShapeResult Create() const override;
27
28 float mHalfHeight = 0.0f;
29 float mRadius = 0.0f;
30 float mConvexRadius = 0.0f;
31};
32
35{
36public:
38
41 CylinderShape(const CylinderShapeSettings &inSettings, ShapeResult &outResult);
42
45 CylinderShape(float inHalfHeight, float inRadius, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr);
46
48 float GetHalfHeight() const { return mHalfHeight; }
49
51 float GetRadius() const { return mRadius; }
52
53 // See Shape::GetLocalBounds
54 virtual AABox GetLocalBounds() const override;
55
56 // See Shape::GetInnerRadius
57 virtual float GetInnerRadius() const override { return min(mHalfHeight, mRadius); }
58
59 // See Shape::GetMassProperties
60 virtual MassProperties GetMassProperties() const override;
61
62 // See Shape::GetSurfaceNormal
63 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
64
65 // See Shape::GetSupportingFace
66 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
67
68 // See ConvexShape::GetSupportFunction
69 virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
70
71#ifdef JPH_DEBUG_RENDERER
72 // See Shape::Draw
73 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
74#endif // JPH_DEBUG_RENDERER
75
76 // See Shape::CastRay
78 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
79
80 // See: Shape::CollidePoint
81 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
82
83 // See: Shape::CollideSoftBodyVertices
84 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) const override;
85
86 // See Shape::TransformShape
87 virtual void TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
88
89 // See Shape::GetTrianglesStart
90 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
91
92 // See Shape::GetTrianglesNext
93 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
94
95 // See Shape
96 virtual void SaveBinaryState(StreamOut &inStream) const override;
97
98 // See Shape::GetStats
99 virtual Stats GetStats() const override { return Stats(sizeof(*this), 0); }
100
101 // See Shape::GetVolume
102 virtual float GetVolume() const override { return 2.0f * JPH_PI * mHalfHeight * Square(mRadius); }
103
105 float GetConvexRadius() const { return mConvexRadius; }
106
107 // See Shape::IsValidScale
108 virtual bool IsValidScale(Vec3Arg inScale) const override;
109
110 // Register shape functions with the registry
111 static void sRegister();
112
113protected:
114 // See: Shape::RestoreBinaryState
115 virtual void RestoreBinaryState(StreamIn &inStream) override;
116
117private:
118 // Class for GetSupportFunction
119 class Cylinder;
120
121 float mHalfHeight = 0.0f;
122 float mRadius = 0.0f;
123 float mConvexRadius = 0.0f;
124};
125
#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
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
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
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
Definition: CylinderShape.cpp:130
A cylinder.
Definition: CylinderShape.h:35
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition: CylinderShape.h:99
float GetConvexRadius() const
Get the convex radius of this cylinder.
Definition: CylinderShape.h:105
float GetHalfHeight() const
Get half height of cylinder.
Definition: CylinderShape.h:48
virtual float GetVolume() const override
Definition: CylinderShape.h:102
float GetRadius() const
Get radius of cylinder.
Definition: CylinderShape.h:51
virtual float GetInnerRadius() const override
Definition: CylinderShape.h:57
JPH_OVERRIDE_NEW_DELETE CylinderShape()
Constructor.
Definition: CylinderShape.h:40
Class that constructs a CylinderShape.
Definition: CylinderShape.h:14
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 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