SphereShape.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 SphereShapeSettings final : public ConvexShapeSettings
{
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, SphereShapeSettings)
 
public:
                            SphereShapeSettings() = default;
 
                            SphereShapeSettings(float inRadius, const PhysicsMaterial *inMaterial = nullptr)    : ConvexShapeSettings(inMaterial), mRadius(inRadius) { }
 
    // See: ShapeSettings
    virtual ShapeResult     Create() const override;
 
    float                   mRadius = 0.0f;
};
 
class JPH_EXPORT SphereShape final : public ConvexShape
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                            SphereShape() : ConvexShape(EShapeSubType::Sphere) { }
                            SphereShape(const SphereShapeSettings &inSettings, ShapeResult &outResult);
 
                            SphereShape(float inRadius, const PhysicsMaterial *inMaterial = nullptr)            : ConvexShape(EShapeSubType::Sphere, inMaterial), mRadius(inRadius) { JPH_ASSERT(inRadius > 0.0f); }
 
    float                   GetRadius() const                                                                   { return mRadius; }
 
    // 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 mRadius; }
 
    // 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([[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 */ }
 
    // 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, const CollideSoftBodyVertexIterator &inVertices, uint inNumVertices, 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), 0); }
 
    // See Shape::GetVolume
    virtual float           GetVolume() const override                                                          { return 4.0f / 3.0f * JPH_PI * Cubed(mRadius); }
 
    // 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:
    // Get the radius of this sphere scaled by inScale
    inline float            GetScaledRadius(Vec3Arg inScale) const;
 
    // Classes for GetSupportFunction
    class                   SphereNoConvex;
    class                   SphereWithConvex;
 
    float                   mRadius = 0.0f;
};
 
JPH_NAMESPACE_END