BoxShape.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>
#include <Jolt/Physics/PhysicsSettings.h>
 
JPH_NAMESPACE_BEGIN

class JPH_EXPORT BoxShapeSettings final : public ConvexShapeSettings
{
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, BoxShapeSettings)
 
public:
                            BoxShapeSettings() = default;

    explicit                BoxShapeSettings(Vec3Arg inHalfExtent, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShapeSettings(inMaterial), mHalfExtent(inHalfExtent), mConvexRadius(inConvexRadius) { }
 
    // See: ShapeSettings
    virtual ShapeResult     Create() const override;
 
    Vec3                    mHalfExtent = Vec3::sZero();                                
    float                   mConvexRadius = 0.0f;
};

class JPH_EXPORT BoxShape final : public ConvexShape
{
public:
    JPH_OVERRIDE_NEW_DELETE

                            BoxShape() : ConvexShape(EShapeSubType::Box) { }
                            BoxShape(const BoxShapeSettings &inSettings, ShapeResult &outResult);

    explicit                BoxShape(Vec3Arg inHalfExtent, float inConvexRadius = cDefaultConvexRadius, const PhysicsMaterial *inMaterial = nullptr) : ConvexShape(EShapeSubType::Box, inMaterial), mHalfExtent(inHalfExtent), mConvexRadius(min(inConvexRadius, inHalfExtent.ReduceMin())) { JPH_ASSERT(inHalfExtent.ReduceMin() >= 0.0f); JPH_ASSERT(inConvexRadius >= 0.0f); }

    Vec3                    GetHalfExtent() const                                       { return mHalfExtent; }
 
    // See Shape::GetLocalBounds
    virtual AABox           GetLocalBounds() const override                             { return AABox(-mHalfExtent, mHalfExtent); }
 
    // See Shape::GetInnerRadius
    virtual float           GetInnerRadius() const override                             { return mHalfExtent.ReduceMin(); }
 
    // 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;
 
#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), 12); }
 
    // See Shape::GetVolume
    virtual float           GetVolume() const override                                  { return GetLocalBounds().GetVolume(); }

    float                   GetConvexRadius() const                                     { return mConvexRadius; }
 
    // Register shape functions with the registry
    static void             sRegister();
 
protected:
    // See: Shape::RestoreBinaryState
    virtual void            RestoreBinaryState(StreamIn &inStream) override;
 
private:
    // Class for GetSupportFunction
    class                   Box;
 
    Vec3                    mHalfExtent = Vec3::sZero();                                
    float                   mConvexRadius = 0.0f;
};
 
JPH_NAMESPACE_END