Jolt Physics
A multi core friendly Game Physics Engine
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SphereShape.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{
14public:
16
17
19
21 SphereShapeSettings(float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mRadius(inRadius) { }
22
23 // See: ShapeSettings
24 virtual ShapeResult Create() const override;
25
26 float mRadius = 0.0f;
27};
28
32{
33public:
35
38 SphereShape(const SphereShapeSettings &inSettings, ShapeResult &outResult);
39
41 SphereShape(float inRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Sphere, inMaterial), mRadius(inRadius) { JPH_ASSERT(inRadius > 0.0f); }
42
44 float GetRadius() const { return mRadius; }
45
46 // See Shape::GetLocalBounds
47 virtual AABox GetLocalBounds() const override;
48
49 // See Shape::GetWorldSpaceBounds
50 virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
52
53 // See Shape::GetInnerRadius
54 virtual float GetInnerRadius() const override { return mRadius; }
55
56 // See Shape::GetMassProperties
57 virtual MassProperties GetMassProperties() const override;
58
59 // See Shape::GetSurfaceNormal
60 virtual Vec3 GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
61
62 // See Shape::GetSupportingFace
63 virtual void GetSupportingFace([[maybe_unused]] const SubShapeID &inSubShapeID, [[maybe_unused]] Vec3Arg inDirection, [[maybe_unused]] Vec3Arg inScale, [[maybe_unused]] Mat44Arg inCenterOfMassTransform, [[maybe_unused]] SupportingFace &outVertices) const override { /* Hit is always a single point, no point in returning anything */ }
64
65 // See ConvexShape::GetSupportFunction
66 virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
67
68 // See Shape::GetSubmergedVolume
69 virtual void GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) 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
77 virtual bool CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
78 virtual void CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) 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 4.0f / 3.0f * JPH_PI * Cubed(mRadius); }
103
104 // See Shape::IsValidScale
105 virtual bool IsValidScale(Vec3Arg inScale) const override;
106
107 // Register shape functions with the registry
108 static void sRegister();
109
110protected:
111 // See: Shape::RestoreBinaryState
112 virtual void RestoreBinaryState(StreamIn &inStream) override;
113
114private:
115 // Get the radius of this sphere scaled by inScale
116 inline float GetScaledRadius(Vec3Arg inScale) const;
117
118 // Classes for GetSupportFunction
119 class SphereNoConvex;
120 class SphereWithConvex;
121
122 float mRadius = 0.0f;
123};
124
#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
constexpr T Cubed(T inV)
Returns .
Definition: Math.h:59
#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
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
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 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
Definition: Sphere.h:12
Definition: SphereShape.h:32
float GetRadius() const
Radius of the sphere.
Definition: SphereShape.h:44
SphereShape(float inRadius, const PhysicsMaterial *inMaterial=nullptr)
Create a sphere with radius inRadius.
Definition: SphereShape.h:41
virtual float GetVolume() const override
Definition: SphereShape.h:102
JPH_OVERRIDE_NEW_DELETE SphereShape()
Constructor.
Definition: SphereShape.h:37
virtual void GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override
Definition: SphereShape.h:63
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition: SphereShape.h:99
virtual float GetInnerRadius() const override
Definition: SphereShape.h:54
Class that constructs a SphereShape.
Definition: SphereShape.h:13
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