Jolt Physics
A multi core friendly Game Physics Engine
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RotatedTranslatedShape.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
13
16{
17public:
19
20
22
24 RotatedTranslatedShapeSettings(Vec3Arg inPosition, QuatArg inRotation, const ShapeSettings *inShape) : DecoratedShapeSettings(inShape), mPosition(inPosition), mRotation(inRotation) { }
25
27 RotatedTranslatedShapeSettings(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape): DecoratedShapeSettings(inShape), mPosition(inPosition), mRotation(inRotation) { }
28
29 // See: ShapeSettings
30 virtual ShapeResult Create() const override;
31
34};
35
39{
40public:
42
45 RotatedTranslatedShape(const RotatedTranslatedShapeSettings &inSettings, ShapeResult &outResult);
46 RotatedTranslatedShape(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape);
47
49 Quat GetRotation() const { return mRotation; }
50
52 Vec3 GetPosition() const { return mCenterOfMass - mRotation * mInnerShape->GetCenterOfMass(); }
53
54 // See Shape::GetCenterOfMass
55 virtual Vec3 GetCenterOfMass() const override { return mCenterOfMass; }
56
57 // See Shape::GetLocalBounds
58 virtual AABox GetLocalBounds() const override;
59
60 // See Shape::GetWorldSpaceBounds
61 virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
63
64 // See Shape::GetInnerRadius
65 virtual float GetInnerRadius() const override { return mInnerShape->GetInnerRadius(); }
66
67 // See Shape::GetMassProperties
68 virtual MassProperties GetMassProperties() const override;
69
70 // See Shape::GetSubShapeTransformedShape
71 virtual TransformedShape GetSubShapeTransformedShape(const SubShapeID &inSubShapeID, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, SubShapeID &outRemainder) const override;
72
73 // See Shape::GetSurfaceNormal
74 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
75
76 // See Shape::GetSupportingFace
77 virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
78
79 // See Shape::GetSubmergedVolume
80 virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
81
82#ifdef JPH_DEBUG_RENDERER
83 // See Shape::Draw
84 virtual void Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
85
86 // See Shape::DrawGetSupportFunction
87 virtual void DrawGetSupportFunction(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inDrawSupportDirection) const override;
88
89 // See Shape::DrawGetSupportingFace
90 virtual void DrawGetSupportingFace(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
91#endif // JPH_DEBUG_RENDERER
92
93 // See Shape::CastRay
94 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
95 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
96
97 // See: Shape::CollidePoint
98 virtual void CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
99
100 // See: Shape::CollideSoftBodyVertices
101 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) const override;
102
103 // See Shape::CollectTransformedShapes
104 virtual void CollectTransformedShapes(const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale, const SubShapeIDCreator &inSubShapeIDCreator, TransformedShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) const override;
105
106 // See Shape::TransformShape
107 virtual void TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
108
109 // See Shape::GetTrianglesStart
110 virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); }
111
112 // See Shape::GetTrianglesNext
113 virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override { JPH_ASSERT(false, "Cannot call on non-leaf shapes, use CollectTransformedShapes to collect the leaves first!"); return 0; }
114
115 // See Shape
116 virtual void SaveBinaryState(StreamOut &inStream) const override;
117
118 // See Shape::GetStats
119 virtual Stats GetStats() const override { return Stats(sizeof(*this), 0); }
120
121 // See Shape::GetVolume
122 virtual float GetVolume() const override { return mInnerShape->GetVolume(); }
123
124 // See Shape::IsValidScale
125 virtual bool IsValidScale(Vec3Arg inScale) const override;
126
127 // Register shape functions with the registry
128 static void sRegister();
129
130protected:
131 // See: Shape::RestoreBinaryState
132 virtual void RestoreBinaryState(StreamIn &inStream) override;
133
134private:
135 // Helper functions called by CollisionDispatch
136 static void sCollideRotatedTranslatedVsShape(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
137 static void sCollideShapeVsRotatedTranslated(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
138 static void sCollideRotatedTranslatedVsRotatedTranslated(const Shape *inShape1, const Shape *inShape2, Vec3Arg inScale1, Vec3Arg inScale2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, const CollideShapeSettings &inCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
139 static void sCastRotatedTranslatedVsShape(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
140 static void sCastShapeVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
141 static void sCastRotatedTranslatedVsRotatedTranslated(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
142
144 inline Vec3 TransformScale(Vec3Arg inScale) const
145 {
146 // We don't need to transform uniform scale or if the rotation is identity
147 if (mIsRotationIdentity || ScaleHelpers::IsUniformScale(inScale))
148 return inScale;
149
150 return ScaleHelpers::RotateScale(mRotation, inScale);
151 }
152
153 bool mIsRotationIdentity;
154 Vec3 mCenterOfMass;
155 Quat mRotation;
156};
157
#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
#define JPH_ASSERT(...)
Definition: IssueReporting.h:33
#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
Settings to be passed with a collision query.
Definition: CollideShape.h:94
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: DebugRenderer.h:47
Base class for shapes that decorate another shape with extra functionality (e.g. scale,...
Definition: DecoratedShape.h:29
Class that constructs a DecoratedShape.
Definition: DecoratedShape.h:13
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
Definition: RotatedTranslatedShape.h:39
virtual float GetInnerRadius() const override
Definition: RotatedTranslatedShape.h:65
JPH_OVERRIDE_NEW_DELETE RotatedTranslatedShape()
Constructor.
Definition: RotatedTranslatedShape.h:44
virtual int GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials=nullptr) const override
Definition: RotatedTranslatedShape.h:113
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition: RotatedTranslatedShape.h:119
virtual float GetVolume() const override
Definition: RotatedTranslatedShape.h:122
Quat GetRotation() const
Access the rotation that is applied to the inner shape.
Definition: RotatedTranslatedShape.h:49
virtual Vec3 GetCenterOfMass() const override
All shapes are centered around their center of mass. This function returns the center of mass positio...
Definition: RotatedTranslatedShape.h:55
virtual void GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override
Definition: RotatedTranslatedShape.h:110
Vec3 GetPosition() const
Access the translation that has been applied to the inner shape.
Definition: RotatedTranslatedShape.h:52
Class that constructs a RotatedTranslatedShape.
Definition: RotatedTranslatedShape.h:16
Quat mRotation
Rotation of the sub shape.
Definition: RotatedTranslatedShape.h:33
RotatedTranslatedShapeSettings(Vec3Arg inPosition, QuatArg inRotation, const Shape *inShape)
Variant that uses a concrete shape, which means this object cannot be serialized.
Definition: RotatedTranslatedShape.h:27
Vec3 mPosition
Position of the sub shape.
Definition: RotatedTranslatedShape.h:32
Settings to be passed with a shape cast.
Definition: ShapeCast.h:92
Filter class.
Definition: ShapeFilter.h:17
Base class for all shapes (collision volume of a body). Defines a virtual interface for collision det...
Definition: Shape.h:178
virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const
Definition: Shape.h:214
Definition: Shape.h:139
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: TransformedShape.h:26
Definition: Vec3.h:16
Vec3 RotateScale(QuatArg inRotation, Vec3Arg inScale)
Definition: ScaleHelpers.h:60
bool IsUniformScale(Vec3Arg inScale)
Test if a scale is uniform.
Definition: ScaleHelpers.h:21
Definition: RayCast.h:47
An opaque buffer that holds shape specific information during GetTrianglesStart/Next.
Definition: Shape.h:336
Class that holds information about the shape that can be used for logging / data collection purposes.
Definition: Shape.h:396
Definition: ShapeCast.h:69