TriangleShape.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Collision/Shape/ConvexShape.h>
 
JPH_NAMESPACE_BEGIN
 
class JPH_EXPORT TriangleShapeSettings final : public ConvexShapeSettings
{
public:
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, TriangleShapeSettings)
 
    
                            TriangleShapeSettings() = default;
 
                            TriangleShapeSettings(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3, float inConvexRadius = 0.0f, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mV1(inV1), mV2(inV2), mV3(inV3), mConvexRadius(inConvexRadius) { }
 
    // See: ShapeSettings
    virtual ShapeResult     Create() const override;
 
    Vec3                    mV1;
    Vec3                    mV2;
    Vec3                    mV3;
    float                   mConvexRadius = 0.0f;
};
 
class JPH_EXPORT TriangleShape final : public ConvexShape
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                            TriangleShape() : ConvexShape(EShapeSubType::Triangle) { }
                            TriangleShape(const TriangleShapeSettings &inSettings, ShapeResult &outResult);
 
                            TriangleShape(Vec3Arg inV1, Vec3Arg inV2, Vec3Arg inV3, float inConvexRadius = 0.0f, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Triangle, inMaterial), mV1(inV1), mV2(inV2), mV3(inV3), mConvexRadius(inConvexRadius) { JPH_ASSERT(inConvexRadius >= 0.0f); }
 
    float                   GetConvexRadius() const                                                             { return mConvexRadius; }
 
    // See Shape::GetLocalBounds
    virtual AABox           GetLocalBounds() const override;
 
    // See Shape::GetWorldSpaceBounds
    virtual AABox           GetWorldSpaceBounds(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale) const override;
    using Shape::GetWorldSpaceBounds;
 
    // See Shape::GetInnerRadius
    virtual float           GetInnerRadius() const override                                                     { return mConvexRadius; }
 
    // See Shape::GetMassProperties
    virtual MassProperties  GetMassProperties() const override;
 
    // See Shape::GetSurfaceNormal
    virtual Vec3            GetSurfaceNormal(const SubShapeID &inSubShapeID, Vec3Arg inLocalSurfacePosition) const override;
 
    // See Shape::GetSupportingFace
    virtual void            GetSupportingFace(const SubShapeID &inSubShapeID, Vec3Arg inDirection, Vec3Arg inScale, Mat44Arg inCenterOfMassTransform, SupportingFace &outVertices) const override;
 
    // See ConvexShape::GetSupportFunction
    virtual const Support * GetSupportFunction(ESupportMode inMode, SupportBuffer &inBuffer, Vec3Arg inScale) const override;
 
    // See Shape::GetSubmergedVolume
    virtual void            GetSubmergedVolume(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, const Plane &inSurface, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outCenterOfBuoyancy JPH_IF_DEBUG_RENDERER(, RVec3Arg inBaseOffset)) const override;
 
#ifdef JPH_DEBUG_RENDERER
    // See Shape::Draw
    virtual void            Draw(DebugRenderer *inRenderer, RMat44Arg inCenterOfMassTransform, Vec3Arg inScale, ColorArg inColor, bool inUseMaterialColors, bool inDrawWireframe) const override;
#endif // JPH_DEBUG_RENDERER
 
    // See Shape::CastRay
    virtual bool            CastRay(const RayCast &inRay, const SubShapeIDCreator &inSubShapeIDCreator, RayCastResult &ioHit) const override;
    virtual void            CastRay(const RayCast &inRay, const RayCastSettings &inRayCastSettings, const SubShapeIDCreator &inSubShapeIDCreator, CastRayCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
    // See: Shape::CollidePoint
    virtual void            CollidePoint(Vec3Arg inPoint, const SubShapeIDCreator &inSubShapeIDCreator, CollidePointCollector &ioCollector, const ShapeFilter &inShapeFilter = { }) const override;
 
    // See: Shape::CollideSoftBodyVertices
    virtual void            CollideSoftBodyVertices(Mat44Arg inCenterOfMassTransform, Vec3Arg inScale, SoftBodyVertex *ioVertices, uint inNumVertices, float inDeltaTime, Vec3Arg inDisplacementDueToGravity, int inCollidingShapeIndex) const override;
 
    // See Shape::GetTrianglesStart
    virtual void            GetTrianglesStart(GetTrianglesContext &ioContext, const AABox &inBox, Vec3Arg inPositionCOM, QuatArg inRotation, Vec3Arg inScale) const override;
 
    // See Shape::GetTrianglesNext
    virtual int             GetTrianglesNext(GetTrianglesContext &ioContext, int inMaxTrianglesRequested, Float3 *outTriangleVertices, const PhysicsMaterial **outMaterials = nullptr) const override;
 
    // See Shape
    virtual void            SaveBinaryState(StreamOut &inStream) const override;
 
    // See Shape::GetStats
    virtual Stats           GetStats() const override                                                           { return Stats(sizeof(*this), 1); }
 
    // See Shape::GetVolume
    virtual float           GetVolume() const override                                                          { return 0; }
 
    // See Shape::IsValidScale
    virtual bool            IsValidScale(Vec3Arg inScale) const override;
 
    // See Shape::MakeScaleValid
    virtual Vec3            MakeScaleValid(Vec3Arg inScale) const override;
 
    // Register shape functions with the registry
    static void             sRegister();
 
protected:
    // See: Shape::RestoreBinaryState
    virtual void            RestoreBinaryState(StreamIn &inStream) override;
 
private:
    // Helper functions called by CollisionDispatch
    static void             sCollideConvexVsTriangle(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);
    static void             sCollideSphereVsTriangle(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);
    static void             sCastConvexVsTriangle(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
    static void             sCastSphereVsTriangle(const ShapeCast &inShapeCast, const ShapeCastSettings &inShapeCastSettings, const Shape *inShape, Vec3Arg inScale, const ShapeFilter &inShapeFilter, Mat44Arg inCenterOfMassTransform2, const SubShapeIDCreator &inSubShapeIDCreator1, const SubShapeIDCreator &inSubShapeIDCreator2, CastShapeCollector &ioCollector);
 
    // Context for GetTrianglesStart/Next
    class                   TSGetTrianglesContext;
 
    // Classes for GetSupportFunction
    class                   TriangleNoConvex;
    class                   TriangleWithConvex;
 
    Vec3                    mV1;
    Vec3                    mV2;
    Vec3                    mV3;
    float                   mConvexRadius = 0.0f;
};
 
JPH_NAMESPACE_END