SoftBodyManifold.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
 
JPH_NAMESPACE_BEGIN
 
class SoftBodyManifold
{
public:
    const Array<SoftBodyVertex> &   GetVertices() const                         { return mVertices; }
 
    JPH_INLINE bool                 HasContact(const SoftBodyVertex &inVertex) const
    {
        return inVertex.mHasContact;
    }
 
    JPH_INLINE Vec3                 GetLocalContactPoint(const SoftBodyVertex &inVertex) const
    {
        return inVertex.mPosition - inVertex.mCollisionPlane.SignedDistance(inVertex.mPosition) * inVertex.mCollisionPlane.GetNormal();
    }
 
    JPH_INLINE Vec3                 GetContactNormal(const SoftBodyVertex &inVertex) const
    {
        return -inVertex.mCollisionPlane.GetNormal();
    }
 
    JPH_INLINE BodyID               GetContactBodyID(const SoftBodyVertex &inVertex) const
    {
        return inVertex.mHasContact? mCollidingShapes[inVertex.mCollidingShapeIndex].mBodyID : BodyID();
    }
 
    JPH_INLINE uint                 GetNumSensorContacts() const
    {
        return (uint)mCollidingSensors.size();
    }
 
    JPH_INLINE BodyID               GetSensorContactBodyID(uint inIndex) const
    {
        return mCollidingSensors[inIndex].mBodyID;
    }
 
private:
    friend class SoftBodyMotionProperties;
 
    explicit                        SoftBodyManifold(const SoftBodyMotionProperties *inMotionProperties) :
                                        mVertices(inMotionProperties->mVertices),
                                        mCollidingShapes(inMotionProperties->mCollidingShapes),
                                        mCollidingSensors(inMotionProperties->mCollidingSensors)
    {
    }
 
    using CollidingShape = SoftBodyMotionProperties::CollidingShape;
    using CollidingSensor = SoftBodyMotionProperties::CollidingSensor;
 
    const Array<SoftBodyVertex> &   mVertices;
    const Array<CollidingShape> &   mCollidingShapes;
    const Array<CollidingSensor> &  mCollidingSensors;
};
 
JPH_NAMESPACE_END