VehicleCollisionTester.h

Go to the documentation of this file.

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Body/Body.h>
#include <Jolt/Core/NonCopyable.h>
 
JPH_NAMESPACE_BEGIN
 
class PhysicsSystem;
class VehicleConstraint;
class BroadPhaseLayerFilter;
class ObjectLayerFilter;
class BodyFilter;
 
class JPH_EXPORT VehicleCollisionTester : public RefTarget<VehicleCollisionTester>, public NonCopyable
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                    VehicleCollisionTester() = default;
    explicit                        VehicleCollisionTester(ObjectLayer inObjectLayer) : mObjectLayer(inObjectLayer) { }
 
    virtual                         ~VehicleCollisionTester() = default;
 
    ObjectLayer                     GetObjectLayer() const                                              { return mObjectLayer; }
    void                            SetObjectLayer(ObjectLayer inObjectLayer)                           { mObjectLayer = inObjectLayer; }
 
    void                            SetBroadPhaseLayerFilter(const BroadPhaseLayerFilter *inFilter)     { mBroadPhaseLayerFilter = inFilter; }
    const BroadPhaseLayerFilter *   GetBroadPhaseLayerFilter() const                                    { return mBroadPhaseLayerFilter; }
 
    void                            SetObjectLayerFilter(const ObjectLayerFilter *inFilter)             { mObjectLayerFilter = inFilter; }
    const ObjectLayerFilter *       GetObjectLayerFilter() const                                        { return mObjectLayerFilter; }
 
    void                            SetBodyFilter(const BodyFilter *inFilter)                           { mBodyFilter = inFilter; }
    const BodyFilter *              GetBodyFilter() const                                               { return mBodyFilter; }
 
    virtual bool                    Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const = 0;
 
    virtual void                    PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const = 0;
 
protected:
    const BroadPhaseLayerFilter *   mBroadPhaseLayerFilter = nullptr;
    const ObjectLayerFilter *       mObjectLayerFilter = nullptr;
    const BodyFilter *              mBodyFilter = nullptr;
    ObjectLayer                     mObjectLayer = cObjectLayerInvalid;
};
 
class JPH_EXPORT VehicleCollisionTesterRay : public VehicleCollisionTester
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                    VehicleCollisionTesterRay(ObjectLayer inObjectLayer, Vec3Arg inUp = Vec3::sAxisY(), float inMaxSlopeAngle = DegreesToRadians(80.0f)) : VehicleCollisionTester(inObjectLayer), mUp(inUp), mCosMaxSlopeAngle(Cos(inMaxSlopeAngle)) { }
 
    // See: VehicleCollisionTester
    virtual bool                    Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override;
    virtual void                    PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override;
 
private:
    Vec3                            mUp;
    float                           mCosMaxSlopeAngle;
};
 
class JPH_EXPORT VehicleCollisionTesterCastSphere : public VehicleCollisionTester
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                    VehicleCollisionTesterCastSphere(ObjectLayer inObjectLayer, float inRadius, Vec3Arg inUp = Vec3::sAxisY(), float inMaxSlopeAngle = DegreesToRadians(80.0f)) : VehicleCollisionTester(inObjectLayer), mRadius(inRadius), mUp(inUp), mCosMaxSlopeAngle(Cos(inMaxSlopeAngle)) { }
 
    // See: VehicleCollisionTester
    virtual bool                    Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override;
    virtual void                    PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override;
 
private:
    float                           mRadius;
    Vec3                            mUp;
    float                           mCosMaxSlopeAngle;
};
 
class JPH_EXPORT VehicleCollisionTesterCastCylinder : public VehicleCollisionTester
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                    VehicleCollisionTesterCastCylinder(ObjectLayer inObjectLayer, float inConvexRadiusFraction = 0.1f) : VehicleCollisionTester(inObjectLayer), mConvexRadiusFraction(inConvexRadiusFraction) { JPH_ASSERT(mConvexRadiusFraction >= 0.0f && mConvexRadiusFraction <= 1.0f); }
 
    // See: VehicleCollisionTester
    virtual bool                    Collide(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&outBody, SubShapeID &outSubShapeID, RVec3 &outContactPosition, Vec3 &outContactNormal, float &outSuspensionLength) const override;
    virtual void                    PredictContactProperties(PhysicsSystem &inPhysicsSystem, const VehicleConstraint &inVehicleConstraint, uint inWheelIndex, RVec3Arg inOrigin, Vec3Arg inDirection, const BodyID &inVehicleBodyID, Body *&ioBody, SubShapeID &ioSubShapeID, RVec3 &ioContactPosition, Vec3 &ioContactNormal, float &ioSuspensionLength) const override;
 
private:
    float                           mConvexRadiusFraction;
};
 
JPH_NAMESPACE_END