Jolt Physics
A multi core friendly Game Physics Engine
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TaperedCapsuleShape.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#ifdef JPH_DEBUG_RENDERER
10#endif // JPH_DEBUG_RENDERER
11
13
16{
18
19
21
23 TaperedCapsuleShapeSettings(float inHalfHeightOfTaperedCylinder, float inTopRadius, float inBottomRadius, const PhysicsMaterial *inMaterial = nullptr);
24
26 bool IsValid() const { return mTopRadius > 0.0f && mBottomRadius > 0.0f && mHalfHeightOfTaperedCylinder >= 0.0f; }
27
29 bool IsSphere() const;
30
31 // See: ShapeSettings
32 virtual ShapeResult Create() const override;
33
34 float mHalfHeightOfTaperedCylinder = 0.0f;
35 float mTopRadius = 0.0f;
36 float mBottomRadius = 0.0f;
37};
38
41{
42public:
44
47 TaperedCapsuleShape(const TaperedCapsuleShapeSettings &inSettings, ShapeResult &outResult);
48
49 // See Shape::GetCenterOfMass
50 virtual Vec3 GetCenterOfMass() const override { return mCenterOfMass; }
51
52 // See Shape::GetLocalBounds
53 virtual AABox GetLocalBounds() const override;
54
55 // See Shape::GetWorldSpaceBounds
56 virtual AABox GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
58
59 // See Shape::GetInnerRadius
60 virtual float GetInnerRadius() const override { return min(mTopRadius, mBottomRadius); }
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::CollideSoftBodyVertices
75 virtual void CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) 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#endif // JPH_DEBUG_RENDERER
81
82 // See Shape::TransformShape
83 virtual void TransformShape(Mat44Arg inCenterOfMassTransform, TransformedShapeCollector &ioCollector) const override;
84
85 // See Shape
86 virtual void SaveBinaryState(StreamOut &inStream) const override;
87
88 // See Shape::GetStats
89 virtual Stats GetStats() const override { return Stats(sizeof(*this), 0); }
90
91 // See Shape::GetVolume
92 virtual float GetVolume() const override { return GetLocalBounds().GetVolume(); } // Volume is approximate!
93
94 // See Shape::IsValidScale
95 virtual bool IsValidScale(Vec3Arg inScale) const override;
96
97 // Register shape functions with the registry
98 static void sRegister();
99
100protected:
101 // See: Shape::RestoreBinaryState
102 virtual void RestoreBinaryState(StreamIn &inStream) override;
103
104private:
105 // Class for GetSupportFunction
106 class TaperedCapsule;
107
109 AABox GetInertiaApproximation() const;
110
111 Vec3 mCenterOfMass = Vec3::sZero();
112 float mTopRadius = 0.0f;
113 float mBottomRadius = 0.0f;
114 float mTopCenter = 0.0f;
115 float mBottomCenter = 0.0f;
116 float mConvexRadius = 0.0f;
117 float mSinAlpha = 0.0f;
118 float mTanAlpha = 0.0f;
119
120#ifdef JPH_DEBUG_RENDERER
121 mutable DebugRenderer::GeometryRef mGeometry;
122#endif // JPH_DEBUG_RENDERER
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_NAMESPACE_BEGIN
Definition: Core.h:361
#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
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
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
Simple binary input stream.
Definition: StreamIn.h:13
Simple binary output stream.
Definition: StreamOut.h:13
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: TaperedCapsuleShape.cpp:137
A capsule with different top and bottom radii.
Definition: TaperedCapsuleShape.h:41
JPH_OVERRIDE_NEW_DELETE TaperedCapsuleShape()
Constructor.
Definition: TaperedCapsuleShape.h:46
virtual Stats GetStats() const override
Get stats of this shape. Use for logging / data collection purposes only. Does not add values from ch...
Definition: TaperedCapsuleShape.h:89
virtual Vec3 GetCenterOfMass() const override
All shapes are centered around their center of mass. This function returns the center of mass positio...
Definition: TaperedCapsuleShape.h:50
virtual float GetVolume() const override
Definition: TaperedCapsuleShape.h:92
virtual float GetInnerRadius() const override
Definition: TaperedCapsuleShape.h:60
Class that constructs a TaperedCapsuleShape.
Definition: TaperedCapsuleShape.h:16
Definition: Vec3.h:16
static JPH_INLINE Vec3 sZero()
Vector with all zeros.
Definition: Vec3.inl:107
Class that holds information about the shape that can be used for logging / data collection purposes.
Definition: Shape.h:396